Anaheim Discounted Package PKG173DPECBL User Manual

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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 position. 
(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 
+5 volts. To activate the input, the pin must be grounded to (0VDC). All limit switch inputs are internally 
clamped to +5V, thus allowing voltages of upto +24VDC to be used.
Hard Limit Inputs:  When a hard limit switch is encountered, the motion will stop immediately . The posi-
tion counter will also cease counting.  Hard limits are intended as an emergency stop for your system. It 
should not be used to do any positioning type functions . These limits are directional.
Soft Limit Inputs:  These switches should be used exclusively for homing. Once positioned properly 
with the appropriate parameters, it causes the motor to ramp down to the base speed before encoun -
tering the home limit switch. However, the soft limit switch will work for any type of motion command. 
These limits are directional. 
NOTE: Whenever a soft limit switch is activated, the motor will decelerate and run at base speed during 
an indexing move, or stop during a slewing move. Be sure to come back past the soft limit switch to set 
any origins, otherwise the motor will decelerate as it goes past the soft limit switch during normal opera -
tion.
Home Limit Input:  This switch is used to establish a position designated “home” or datum position us -
ing the following: home to  soft and home limit, or home to home limit . This limit is not directional.
Home to Soft, Home Limit (2 Switch Operation):  This type of homing routine requires two grounding 
type limit switches called home and soft. The first limit switch seen is the soft limit. This will deceler -
ate the motor down to base speed. The motor will then continue to run at base speed until it contacts 
the home limit switch input causing the motor to stop. The home limit switch activates as a hard limit 
if a soft limit is not sensed. The soft limit is directional, meaning that it will work in only one direction 
as specified. The soft limit switch will work for any type of motion command. The home limit switch will 
work only for the two home motion commands.
NOTE: There should be sufficient distance between the two limit switches, as to let the motor reach 
base speed.
Home to Home Limit (1 Switch Operation) : This type of homing differs in that only one limit switch 
is needed. In this homing routine the motor moves toward the home limit switch. When the home limit 
switch is contacted the motor will ramp down to base speed, reverse direction and continue at base 
speed until the limit switch is released.  This is a good way to compensate for any backlash in a system. 
It is also useful for minimizing the number of limit switches needed for homing.
NOTE: The home switch needs to be low during the entire deceleration and reversing time. 
						

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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 (0VDC). All jog switch inputs are internally clamped 
to +5V, thus allowing voltages of upto +24VDC to be used. Jog is a manual function. The user can 
select the direction and speed (fast or slow) by grounding the appropriate combinations of inputs.  To 
jog a motor, it is necessary to ground the jog input  for the direction desired. For fast jog, both the fast 
input and jog input for the appropriate direction must be low at the same time. By grounding one of the  
jog inputs, the user causes the motor to run at base speed.  When the fast input is grounded, the motor 
will then accelerate to the programmed jog speed. The position register will keep track of the number 
of steps that are taken during jogging. Once a +jog or a -jog function has been performed, the direction 
register will retain the last direction of movement; that is, a subsequent go command will be in the same 
direction as the last jog command.
Inputs:  All inputs (except input 1) are internally pulled up by a resistor making them normally +5 volts. 
To activate the input, the pin must be grounded to (0VDC). All inputs are internally clamped to +5V, thus 
allowing voltages of upto +24VDC to be used. Six inputs are provided per axis.   The inputs are TTL, 
CMOS and 24V compatible. The inputs may be used to initiate a machine cycle, for inter-axis coordina -
tion (in stored program mode), for operator intervention, for sensing a machine condition such as out of 
stock or wait for temperature to be reached, etc. A grounded input will read a “0” and an open or high 
input will read as a “1”. Input 1 is a special input that is capable of reading an analog voltage between 
0 and +5VDC. Since this input does not have 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 posi-
tion, then these two inputs are not connected to the input port of the processor .
Analog Input:  Input 1 can be configured to read an analog voltage to either set the absolute position of 
the motor or to set the maximum speed of the motor. 
To set the position , when told via the goto analog position  command, the input will read a voltage 
between 0 and +5VDC and based on the” upper and lower” limits of the function, a move will occur to a 
calculated position between the two limits. The motor must finish the move before it can be told to read 
the input again for the next position. For example, if the lower limit is set to 0 and the upper limit is set 
to 5000 and the analog position is set at +2.0VDC, then the motor will move to position 2000. Changing 
the lower limit to 1000 and the voltage to +3.2VDC, the motor will move to position 3560. See examples 
below for calculations of the analog inputs. (Range of limits: 0 to 65535 and the lower limit < upper limit)
To set the max speed, when told via the set analog speed  command the input will read a voltage 
between 0 and +5VDC, and based on the “upper and lower” limits of the function, a max speed can 
be obtained based on a calculated frequency between the two points.  The speed however can not be 
changed when the DPE25601 is busy (moving). See examples below for calculations of the analog 
inputs. (Range of limits: 0 to 50000 and the lower limit < upper limit)
Analog  calculations.    Example1:     Example2:
(Upper-Lower) * (Voltage/5) = X  (5000 - 0) * (2 / 5) = 2000 (5000 - 1000) * (3.2 / 5) = 2560
Lower + X = Position or Frequency  0 + 2000 = 2000   1000 + 2560 = 3560
Outputs:  Eight outputs are provided per axis. Outputs 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 
section) from the output to the power source in order to provide adequate fly-back protection.  The out-
puts are current sinking, open collector darlingtons. They are capable of sinking up to 100mA per output 
with voltages up to 40VDC. Turning an output on will pull the output pin to ground and turning an output 
off will make the output pin open. Output 1 has a special function  (output on the fly) that will enable it to 
be triggered at a certain absolute position during a move. Output 8 has a special function that will trig -
ger when the encoder retries function fails. 
						

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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 (0VDC) for a preset delay of 50uS at a specific absolute position set by the  1st 
output position  command. Second, the output can then repeat this after a preset amount of steps set 
by the number of steps between outputs  command, and third a predetermined amount of times to set 
the output is required by the  number of outputs command which determines the preset amount of times 
to trigger the output. So if you start at position 0 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 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 Goto Statements:  The goto instruction will have the program jump to the given label. If 
no label is in the program, it will error when trying to send.
Return from Subroutine:  This function can be placed anywhere in the program as long as a goto 
statement has been already executed. The program will jump back to the last goto statement encoun -
tered and execute the next line in the program.
Inner and Outer Loop:  The loop instructions allow the user to loop a program a variable number of 
times. The program will loop to the designated label location of the program. However , the label must 
always be at a lower line number than the loop instruction itself.  You can only nest inner loops inside an 
outer loop. You may not nest an inner loop inside an inner loop, or an outer loop inside an outer loop. 
Multiple nested inner loops are allowed in one outer loop.
Finish Move:  When writing a program, the finish move command is used directly after every motion 
command. When using this command, the 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 autocorrect function is enabled. 
						

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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 example, 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 autocorrect the motor shaft po -
sition before producing an error. When the error is produced, Output 8 is triggered. (Range: 0 to 255)
Encoder Window:  This is the allowable error in encoder pulses (either plus or minus) from the desired 
position that is allowed before the motor autocorrects. (Range: 0 to 255)
Thumbwheel Index:  This special function allows a thumbwheel with up to 7 decades to be used with 
the 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
2 and controls the time that the motor will take to move from base speed to 
max speed, and from max speed to base speed. The higher the value, the faster the motor will acceler -
ate. The same principal applies for the deceleration which is controlling the time it takes to go from the 
max speed to base speed. (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops. It is entered directly as 
the number  of steps per second. This speed must always be less than the max speed  and jog speed. 
(Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the motor to run. This speed must always 
be greater than the base speed. It is entered directly as the number of steps per second.
(Range: 1 to 50000)
Jog Speed: The jog speed sets the fast jog rate. Jog (+/-) is used to run at base speed. The FJOG pin, 
when grounded, will ramp the motor to the set jog speed. This speed must always be greater than the 
base speed. It is entered directly as the number of steps per second. (Range: 1 to 50000)
Motor Current: This command will control the on/off output which is designed to connect to the on/off 
input of Anaheim Automation’s step motor drivers. To energize and allow current to flow through the coil 
of the motor, set the value to on. To de-energize and turn the current off to the motor, set the value to 
off. This is a dedicated output and not controlled with the output register.
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. 
						

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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:
 • Exercise and monitor the DPE25601 controller
 •  Write and edit stored programs for standalone operation
 •  Directly communicate with the DPE25601 controller
Installation
 Software 
  •   The  SMC60WIN  is  supplied  on  a  CD,  containing    the  setup  program  and  the  SMC-
60WIN          software, DPE25601 manual and sample programs.
  •  SMC60WIN is compatible with all versions of Windows including Windows 2000 and    
     Windows XP.
  Windows 95/98/NT/ME/2000/XP Installation
      Option 1
    1) Insert the CD into the drive
    2) On the Windows Taskbar 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 the DPE25601 controller.
  3) Set the appropriate com port setting by selecting  Setup | Com Port Settings from the menu    
                bar.  (Ctrl+M is a shortcut)
  4) Set the appropriate 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 communications has been established. (Ctrl+C is a shortcut) 
						

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New ProgramStart editing a new program.
Open Program Open an existing program from disk.
File Menu
Setup Menu
ConnectEstablish communications with the controller.
Disconnect Release the COM port for other devices to use.
Setup - Axis Menu
Select Axis Sets the axis select parameter in the SMC60WIN software. (1-99) 
						

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Start ProgramStart the execution of the program in the controller memory.
Stop ProgramStop the execution of the program in the controller memory.
Program Menu
DisableProgram will disable the execution of a stored program at power up.
Program - Autostart Program Menu
Add Adds a new line of code to the end of the progam.
Change Edits the currently selected line of code.
Edit Menu 
						

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“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.  If 
communications are not established, please refer to the Troubleshooting Section.
Help Menu
Error Coder ReaderUtility to read the error code generated by the DPN10601 controller .
PCL601 User’s GuideOpens up the User’s Guide in .pdf format. 
						

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Toolbar
    Exit          New        Open       Save        Print   Calculator Stop All   Connect
ExitExit the SMC60WIN software.
New Start editing a new program.
Open Open an existing program from disk or directory.
Save Save the current program to disk or directory.
Tab Sheets
Real Time Motion Monitor and control motion of the controller.
Encoder Options and Reg -
istration Inputs Monitor and change settings for encoder options, input on the fly and output on the fly
. 
						

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Set Accel/DecelSend acceleration & deceleration parameter to controller. (step/sec2)
Set Base Speed Send base speed parameter to the controller. (step/sec)
Set Max Speed Send maximum speed parameter to the controller. (step/sec)
Set Jog Speed Send fast jog speed parameter to the controller. (step/sec)
Set Position Set motor position.
Set Direction Set direction to clockwise or counter-clockwise.
Set Motor Current Set the current in the motor on or off.
Home using
(Home Switch) 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)
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, followed 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 Position Motor will move to specified position.
Slew Motor will ramp up to maximum speed and keep moving until stop motion is triggered.
Stop Soft Ramp motor down to base speed and stop.
Stop Hard Stop any motor motion immediately.
Inputs View inputs. (checked = On, blank = Off)
Outputs View and trigger outputs. (checked = ON, blank = OFF)
Verify Parameters Updates and displays controllers parameters sheet and resets the error codes.
Tab Sheets - Real Time Motion