Anaheim Automation DPN10601, User Manual

Page 1: ... DPN10601 Programmable Driver Pack User s Guide 4985 E Landon Drive Anaheim CA 92807 e mail info anaheimautomation com 714 992 6990 fax 714 992 0471 website www anaheimautomation com A N A H E I M A U T O M A T I O N July 2018 ...

Page 2: ... 12 Short Circuit Mis Wire and Over Current Conditions 12 Over Temperature and Over Voltage Conditions 12 Section 3 Controller Functions 13 Methods of Communication 13 Baud Rate 13 RS232 Protocol Controller SW1 in RS232 Position 13 RS485 Protocol Controller SW1 in RS485 Position 13 Axis Selection 14 Controller Status LED 14 Technical Support 14 Section 4 SMC60WIN Software 19 File Menu 20 Setup Men...

Page 3: ...t step is made 20msec delay With the DPN10601 various step resolutions can be implemented by the onboard dip switch These division range from 200 steps per revolution to 12 800 steps per revolution Protection devices have been added to this driver for short circuit open circuit over circuit under voltage and over temperature conditions The driver has built in features to indicate power on Green LE...

Page 4: ...cts 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 the latest releases Part Number Description DPN10601 Controller Drive Pack Features a 10 amp bipolar drive and power supply DPD75601 Controller Drive Pack Features a 7 amp unipolar dr...

Page 5: ...September 2012 L010155 5 Dimensions Switch Locations Wiring Diagrams July 2018 ...

Page 6: ... OFF Cathode Internally Connected to controllers on off output 7 5VDC This non isolated output can be used to supply up to 50mA of current 8 0VDC 5VDC Return Terminal Descriptions Power The DPN10601 is powered by an AC line voltages ranging from 90 265VAC The following figure shows the various line voltages and the wiring for the power connection terminal block Terminal Descriptions Driver Positio...

Page 7: ...W2 in position IN5 6 7 Ground Position Description Outputs 1 Output 1 Output on the fly output 2 Output 2 3 Output 3 4 Output 4 5 Output 5 6 Output 6 7 Output 7 8 Output 8 Encoder Retries Error Output Switch Description P1 This connector is for the RS 232 communication and is labeled RS 232 J1 This connector is for the thumbwheel module and is labeled TWS Switch Description SW1 This switch is used...

Page 8: ...in 14 17 23 34 and 42 frame sizes Contact the factory to verify motor compat ibility with the DPN10601 Section 2 Driver Functions Motor Example Motor Current Number Code Unipolar Rating Series Peak Rating Parallel Peak Rating Series Current Setting Parallel Current Setting 23102S 02 1 0A 1 0A 2 0A 5 23L303D LW8 03 1 5A 1 5A 3 0A 0 20 34N104S LW8 04 2 0A 2 0A 4 0A 5 30 23L4005D LW8 05 2 5A 2 5A 5 0...

Page 9: ... OFF OFF Disabled 1 200 ON ON ON ON Enabled 2 400 ON ON ON OFF Enabled 5 1000 ON ON OFF ON Enabled 8 1600 ON ON OFF OFF Enabled 10 2000 ON OFF ON ON Enabled 16 3200 ON OFF ON OFF Enabled 32 6400 ON OFF OFF ON Enabled 64 12800 ON OFF OFF OFF Enabled Setting the Output Current The output current on the DPN10601 is set by an onboard potentiometer This potentiometer determines the per phase peak outpu...

Page 10: ...ng and the wiring configuration of the motor There is a current adjustment potentiometer used to set the output current of the DPN10601 This sets the peak output current of the sine cosine waves The specified motor current which is the unipolar value is multiplied by a factor of 1 0 1 4 or 2 0 depending on the motor configuration series half coil or parallel Step Motor Configurations Step Motors c...

Page 11: ...Connection When configuring the motor windings in series use the per phase or uni polar current rating to determine the current setting potentiometer value 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 Note After the current has been determined according to the motor ...

Page 12: ...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 Short Circuit Mis Wire and Current Conditions If it is found that there is condition that causes on over current in the driver phase transistors the Red LED will turn on solid and power will be shut off to the motor To reset the drive turn power off check ...

Page 13: ...ngle ended This means that for each signal there is one wire and a common ground reference used by all the signals The DPN10601 does not use handshaking thus the CTS and RTS lines are internally connected and the CD DTR and DSR lines are internally connected inside the DPN10601 The signal line maintains levels of 5VDC to 15VDC and 5VDC to 15VDC For a valid logic level in the controller the voltage...

Page 14: ...heck the axis use the SMC60WIN 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...

Page 15: ... 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 pos...

Page 16: ... 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 tol...

Page 17: ...ied 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 wil...

Page 18: ...ation Deceleration The acceleration and deceleration are the same value The acceleration is entered directly as steps sec2 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...

Page 19: ...indows 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 SMC60WIN software 2 Apply power to th...

Page 20: ... Axis Set axis selection and stored axis of the controller Select Axis Sets the axis select parameter in the SMC60WIN software 1 99 Define Axis Sets the programmable address in the controller 1 99 New Program Start editing a new program Open Program Open an existing program from disk Save Program As Save the current program to disk Print Print the current program Exit Exit the SMC60WIN software Ju...

Page 21: ... Stop Program Stop the execution of the program in the controller memory View Program View the program stored in the controller memory Clear Program Memory Clear the program memory in the controller Autostart Program Turn the autostart function on or off Add Adds a new line of code to the end of the program Change Edits the currently selected line of code Insert Insert a new line of code before th...

Page 22: ...format www anaheimautomation com Opens up the Anaheim Automation Website About Displays the verison of the SMC60WIN and contact information The Unit is Connected The Unit is Not Connected On the right of the Toolbar the user will find the communication status of the DPN10601 control ler If communications is not established please refer to the troubleshooting section July 2018 ...

Page 23: ... Stop the program and all motion from running Connect Establish communication with the controller Tab Sheets Real Time Motion Monitor and control motion of the controller Encoder Options and Registration Inputs Monitor and change settings for encoder options input on the fly and output on the fly Analog Input and Thumb wheel Options Monitor and change settings to Analog Inputs and the thumbwheel s...

Page 24: ...no longer triggered One switch is required to stop anti backlash Home using Soft and Home Switches Motor will seek the home position by moving towards home 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 Move number of steps Motor will move number of steps entered Move to Positi...

Page 25: ...1st position to set the output to the controller Set of Steps Between Outputs Send of steps to take between activated outputs to the controller Set of Output Counts Send of output counts to the controller Move of Steps Motor will move number of steps entered Reset Position to 0 Reset the controller position to 0 zero Stop Hard Stop any motor motion immediately Index on the Fly Set the index on the...

Page 26: ...n Lower Limit Send the analog position lower limit to the controller Set Position Upper Limit Send the analog position upper limit to the controller Set Analog Position Motor will move to position based on analog voltage measured at input Stop Hard Stop and motor motion immediately Thumbwheel Index Sets the thumbwheel index feature on or off Move Thumbwheel Index Motor will move number of steps se...

Page 27: ...elected line of code Insert Insert a new line of code before the currently selected line of code Delete Deletes the currently selected line of code Tab Sheets Create and Edit Program DPN10601 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 DPN10601 has a maximum available ...

Page 28: ...nd I O routines Goto For Loop Encoder and Thumbwheel Commands Software section that allows user to manipulate branching and loop routines enter encoder parameters and control the thumbwheel switches Analog Registration and Text Commands 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...

Page 29: ...ister in the controller Finish Move Command will allow any motion command to be completed before continuing to the next line of code This command should be used after every motion command Repeat Last Move Command will repeat the previous index move Do not use with encoder auto correct enabled Home to Soft Home Limits Command will begin motion in the direction last entered seeking the soft input fi...

Page 30: ... given value If the inputs do not match the next line is skipped If input matches then ex ecute the next line otherwise skip the next line This conditional command allows the user to execute the next line of code if the specific input triggered matches the given value If the input does not match the next line is skipped Set Outputs The outputs can be turned on 1 or off 0 These outputs can be used ...

Page 31: ...n the thumbwheel position for the thumbwheel to be enabled Move Thumbwheel Index Relative move command will allow motor to move the defined number of steps set by the thumbwheel switches Encoder Auto Correct Off Command will disable the auto correct of the motor The encoder value can still be read Encoder Auto Correct On Command will enable the use of the encoder and auto correct the motor if need...

Page 32: ...g position lower limit to the value specified Analog Position Upper Limit Sets the analog position upper limit to the value specified Output on the Fly On Off Sets the output on the fly feature on or off 1st Output Position Sets the output on the fly feature on or off Steps Between Outputs Sets the number of steps between the triggered output of Output Counts Set the number of times the output wil...

Page 33: ...olution per second RPS PPS Convert from revolution per second to pulses per second Steps Per Rev Enter the number of steps per revolution of the step motor The default is for a 200 step rev motor in half step which is equal to 400 Close Exit Calculator Calculator July 2018 ...

Page 34: ...cters 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 0 carriage return Section 5 Direct Talk Mode Command Summary A Acceleration Deceleration B Base Speed C Steps Between Outputs D 1st Output on the Fly Position EA Encoder A...

Page 35: ...ed set this value to 0 This command is used in conjunction with the output on the fly enabled command Range 0 65535 D 1st Output on the Fly Position Format D value Description This command sets the position at which output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly enabled command Range 0 65535 EA Encoder Autocorrect Enabled Forma...

Page 36: ...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 DPN10601 controller will try to auto correct the motor before an error occurs This command is used in conjunction with the encoder auto correct EA command When the auto correct error Output 8 will b...

Page 37: ...hange 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 andA acceleration deceleration commands I 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...

Page 38: ...mand It is also used to set the registration index during and index on the fly move Motion is not activated by this command it only sets the index register Range 0 8388607 Format 2 N Description This command reads the thumbwheel switches to set the number of clocks for the DPN10601 to send out following a G command For this command to work SW2 must be in the TWS position and the thumbwheel enable ...

Page 39: ...log 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 DPN10601 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 co...

Page 40: ...cription Command Description A Verify acceleration deceleration O Verify outputs B Verify base speed T Verify motor current 1 is on 0 is off C Verify Steps between outputs on the fly Z Verify position D Verify 1st output on the fly position Verify index on the fly enabled EA Verify encoder autocorrect enable Verify output on the fly enabled ED Verify encoder delay Verify direction EM Verify encode...

Page 41: ...on use a 0 This command is used in conjunction with the number of steps between outputs C 1st output position D and number of outputs commands Clockwise Format Description This command sets the direction output to clockwise Soft Limit Input Bit Format Description This command will ramp the clocks down to base speed The move type then determines what will happen In a relative or absolute type motio...

Page 42: ...ription 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 commands Analog Speed Lower Limit Format value Description This command sets the lower limit that is used during the calculation follow ing an ...

Page 43: ... analog position input This command is used in conjunction with the analog position enable and absolute position P commands Range 0 65535 Analog Position Upper Limit Format 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 with the analog position enable and absolute posit...

Page 44: ...ller 8 If problems still exist contact Anaheim Automation Tech Support Problem There is no power to the DPN10601 controller Possible Solutions 1 Is the DPN10601 controller connected to the appropriate power supply 2 Check for any blown fuses in line with the DPN10601 controller 3 If problems still exist contact Anaheim Automation Inc Tech Support Problem My program won t Autostart Possible Solutio...

Page 45: ...ly Please make sure that the base speed is less than the max speed and that the speeds are within their valid ranges 32 Range Overflow 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 64 Range Error There was an invalid number of commands and characters sent to the controller Check to see if the parameters are invali...

Page 46: ...ection 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 July 2018 ...

Page 47: ...ram 2 illustrates a typical application where a system is first sent home to a datum or 0 position This sample program shows how a motor will move to a 3 different positions utilizing some of the motion commands loop routines and encoder routine July 2018 ...

Page 48: ...for input 1 to be a value of 0 grounded and then is indexed 10 000 steps During this index output 1 needs to be turned on every 1000 steps 5 times starting at position 2000 At the end of the index output 1 is then turned on again for 1 mS and the unit is then sent back the 10 000 steps to position 0 but the output should not be turned on The unit then repeats waiting for input 1 to be 0 and indexe...

Page 49: ...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 ...

Page 50: ... thumbwheel switch that is connected to each unit for indexing The direction is then set for Axis 0 and Axis 1 and these two axes are then told to index the distance set in each thumbwheel at the same time The program then waits for the motion to finish before it tells Axis 2 to move Axis 2 first moves in the negative direction waits for the index to finish and then moves back in the positive dire...

Page 51: ...ions 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 V...

Page 52: ... Anaheim Automation products in life support applications assumes all risks of such use and indemnifies Anaheim Automation against all damages LIMITED WARRANTY AllAnaheimAutomation 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 ...