Anaheim Discounted Package PKG174DPECBL User Manual

							910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990     Fax. (714) 992-0471     www.anaheimautomation.com
PKG-174-DPE-CBL
System Diagram and Specifications
L010878
Sheet1
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0  0.8  1.6  2.4  3.2  4  4.8  5.6  6.4  7.2  8 
POWER (Watts)
 
TORQUE (oz
-in) 
SPEED (RPS)  
17Y402S-LW4, DPE25601, Div by 8, Series  
TORQUE 
POWER 
Included Components:
17Y402S-LW4-MS Stepper Motor
DPE25601 2.5Amp Driver Pack with 
Programmable Indexer
CBL-20AWG-04C-010-MS Motor Cable 
						

							Pin #Lead Wire Connection Lead Wire Color
1 Phase 1 (A) Black
2 Phase 3 (A\) Orange
3 Phase 2 (B) Red
4 Phase 4 (B\) Yellow
FEATURES
SPECIFICATIONS
910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990      Fax. (714) 992-0471     www.anaheimautomation.com
The 17Y402S-LW4-MS High Torque Stepper Motor offers a great value without sacrificing quality.  This motor was 
designed to offer the highest possible torque while minimizing vibration and audible noise. It is wired in series with 
a Molex 4 pin Mini-Fit Jr. receptacle. 
A 10 ft. 4 conductor, 20 AWG cable with mating 4 pin Mini-Fit Jr. plug is included in the PKG-174-DPE-CBL     
stepper motor/driver package.
17Y402S-LW4-MS - High Torque Stepper Motor17Y402S-LW4-MS - High Torque Stepper Motor
• NEMA 17 Frame Size
• Holding Torque - 111 oz-in
• 1.8° Step Angle
• High Step Accuracy and Resolution
• Low Vibration and Noise
• CE Certified RoHS Compliant
Specifications
Step Angle Accuracy: ± 5% (Full Step, No Load) Insulation Resistance:100M Ohm Min, 500VDC
Resistance Accuracy: ± 10% Dielectric Strength:500VDC for 1 minute
Inductance Accuracy: ± 20% Shaft Radial Play:0.02” Max (1.0 lbs)
Temperature Rise: 80°C Max (2 Phases On) End Play:0.08” Max (1.0 lbs)
Ambient Temperature: -20° to +50° C Max Radial Force:16.3 lbs
Model #NEMA 
Size Bipolar
Torque (oz-in) Bipolar 
Voltage (v) Bipolar 
Resistance (ohms) Bipolar
Current (A) Bipolar 
Inductance (mH) Rotor 
Inertia
(oz-in-sec2) Shaft 
Diameter (in) Weight
(lbs) Length
(in)
17402S-LW4-MS 17111 12.00 10.20 0.85 290.00144 0.1971.102.36 
						

							3
Table of Contents
DPE25601 - 2.5Amp Stepper Driver Pack 
With Programmable IndexerDPE25601 - 2.5Amp Stepper Driver Pack
With Programmable Indexer
Section 1: Introduction
 ........................................................................\
................................................................... 4
Description........................................................................\
........................................................................\
................. 4
Electrical Specifications  ........................................................................\
..................................................................... 5
Wiring Diagrams  ........................................................................\
........................................................................\
........ 5
Terminal Descriptions - Driver  ........................................................................\
........................................................... 6
Motor Ground ........................................................................\
........................................................................\
............ 6
Terminal Descriptions - Controller  ........................................................................\
..................................................... 7
Connector Descriptions - Controller  ........................................................................\
.................................................. 7
Slide Switch Descriptions - Controller  ........................................................................\
............................................... 7
Section 2: Driver Functions  ........................................................................\
............................................................ 8
Microstep Selection - Driver DIP Switch Settings ........................................................................\
.............................. 8
Setting the Output Current ........................................................................\
................................................................. 9
Reducing Output Current ........................................................................\
................................................................... 9
Short-Circuit, Mis-Wire, and Over-Current Conditions  ........................................................................\
...................... 9
Section 3: Controller Functions  ........................................................................\
................................................... 10
Methods of Communication  ........................................................................\
............................................................. 10
Baud Rate ........................................................................\
........................................................................\
................ 10
RS232 Protocol - Controller SW1 in RS232 position ........................................................................\
....................... 10
RS485 Protocol - Controller SW1 in RS485  position ........................................................................\
...................... 10
Axis Selection  ........................................................................\
........................................................................\
.......... 11
Controller Status LED  ........................................................................\
...................................................................... 11
Technical Support  ........................................................................\
........................................................................\
.... 11
Section 4: SMC60WIN Software ........................................................................\
................................................... 16
File Menu  ........................................................................\
........................................................................\
................. 17
Setup Menu  ........................................................................\
........................................................................\
............. 17
Setup - Axis Menu ........................................................................\
........................................................................\
... 17
Program Menu  ........................................................................\
........................................................................\
......... 18
Program - Autostart Program Menu ........................................................................\
................................................. 18
Edit Menu ........................................................................\
........................................................................\
................ 18
Help Menu  ........................................................................\
........................................................................\
............... 19
“The Unit is Connected” / “The Unit is NOT Connected”  ........................................................................\
................. 19
Toolbar  ........................................................................\
........................................................................\
..................... 20
Tab Sheets ........................................................................\
........................................................................\
............... 20
Add/Change/Insert Commands  ........................................................................\
....................................................... 25
Calculator  ........................................................................\
........................................................................\
................ 30
Section 5: Direct Talk Mode ........................................................................\
.......................................................... 31
Section 6: Troubleshooting  ........................................................................\
.......................................................... 41
Error Codes  ........................................................................\
........................................................................\
............. 42
Section 7: Sample Programs ........................................................................\
........................................................ 43
Appendix: ASCII Table for Direct Mode  ........................................................................\
........................................... 45 
						

							4
Section 1: Introduction
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. It provides flexible, independent control of bipolar stepper motors with a current range from 0.5 
to 2.5 amps/phase with a microstepping resolution of 1600 steps per revolution from a computer or any 
machine controller with a serial port. It is also capable of standalone operation, making it an embedded 
machine controller. The easy to use Windows software, SMC60WIN, can be used to directly control motion 
and to program the 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 stepper 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 pro-
tocol. Special functions of the controller include 8 programmable open collector outputs and 6 TTL, CMOS 
and 24V compatible inputs, a quadrature encoder input with the ability to autocorrect, an analog input to 
control either maximum speed or absolute position, registration mark indexing during a slew 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. It 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 Current Enable to automatically reduces 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 number 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  feed  back,  autocorrection,  index-on-the-fly  and  output-on-the-fly . An  analog  input  can 
be  used  to  set  either  the  maximum  speed  or  goto  an  absolute  position  based  between  the  upper  and 
lower  programmable  limits. A  seven  decade  thumbwheel  switch  can  be  read  for  relative  indexing.  The 
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 are provided per axis. The I/O may be used for monitoring and controlling machine operation and/
or interaxis coordination. The I/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. 
						

							5
Electrical Specifications
Power Requirements:
100-240 VAC 50/60Hz
Operating Temperature:
0 to 60 degrees C
Pulse Output Range:
1 to 50,000 Hz (0 to 31.25 Rev/Sec)
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog input 1: 0 to 5VDC
Output Current Rating:
2.5 A/phase maximum running
1.75 A/phase maximum standstillBaud 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
Output1 active low time for output on the fly:
50uS
Note: For inductive loads, customers must connect a 
clamping diode to protect from flyback voltage spikes.
Wiring Diagram 
						

							6
Slide Switch Descriptions - Controller
Switch NumberDescription
SW1 This switch is used to select either RS232 or RS485.
Connector Descriptions - Controller
Switch Number 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.
PositionDescription - RS485
1 A(-)
2 B(+)
3 IGND - This is an 
isolated ground for  RS485 only
Position Description -
 Encoder
1 +5VDC supply for encoder
2 A channel for encoder
3 B channel for encoder
4 Ground return for encoder
Position Description - Inputs
1 Input 1 - Analog input
2 Input 2 - Index on the fly 
input
3 Input 3
4 Input 4
5 Input 5
6 Input 6
7 Ground
PositionDescription - 
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 Re-
tries Error OutputPosition Description - Limit 
Switch Inputs
1 Home Limit
2 Jog +
3 Jog -
4 Fast Jog
5 Hard Limit +
6 Hard Limit -
7 Soft Limit +
8 Soft Limit -
9 Ground
Terminal Descriptions - Driver
Position Description - Motor Connection
1 Phase A: Phase 1 of the Step Motor
2 Phase A: Phase 3 of the Step Motor
3 Phase B: Phase 2 of the Step Motor
4 Phase B: Phase 4 of the Step Motor
Terminal Descriptions - Controller 
						

							7
Section 2: Driver Functions
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 specified motor current of .85A for the 17Y402S-LW4-
MS (which is the bipolar value) is multiplied by a factor of 1.4 to determine the current adjustment 
potentiometer value of 1.2Amps or 35%. 
Peak Current Potentiometer Setting Peak CurrentPotentiometer Setting
0.50A 0%1.50A 50%
0.70A 10%1.70A 60%
0.90A 20%1.90A 70%
1.00A 25%2.10A 80%
1.20A 35%2.30A 90%
1.30A 40%2.50A 100%
Reducing Output Current
Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position and 
occurs approximately 1 second after the last positive going edge of the step clock input. The amount of 
current per phase in the reduction mode is approximately 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.
WARNING! Step motors will run hot even when configured correctly. Damage may occur to the mo-
tor if a higher than specified current is used. Most specified motor currents are maximum values. Care 
should be taken to not exceed these ratings.
WARNING: Do not connect or disconnect motor wires while power is applied! 
						

							8
Section 3: Controller Functions
Methods of Communication
There are two methods for sending commands to the DPN10601. One is to directly talk to the DPN10601 
by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller), 
where the computer or PLC gives the DPN10601 serial commands to off-load its processor. For example: 
A PLC can utilize its outputs to toggle the DPN10601’s inputs and gain control of variable speeds, variable 
programs, variable distances, etc. Simply using the DPN10601 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 DPN10601 is to use the software program SMC60WIN to either 
manually control, or to write and send programs. This method is used when the DPN10601 is the main 
controller. For example: A DPN10601 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 DPN10601 controller.
Baud Rate
A term used frequently in serial data communications, a “baud” is defined as the reciprocal of the shortest 
pulse duration in a data word signal, including start,  stop, and parity bits. This is often taken to mean the 
same as “bits per second”, a term that expresses only the number of “data” bits per second. Very often, 
the parity bit is included as an information or data bit. The DPN10601 accepts a baud rate of 38400 only.
RS232 Protocol - Controller SW1 in RS232 position
The DPN10601 is a DCE device, therefore it will transmit on pin 2 and receive on pin3 of the DB9 RS-
232 connector . The RS232 serial communication mode is single ended. This means that for each signal 
there is one wire, and a common ground reference used by all the signals. The 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 must be at least +/-3 volts. RS232 
works at distances of up to 50 feet maximum. RS232 is susceptible to electrical noise, and should not 
be used in noisy areas. Always use the shortest cable connection possible. NOTE: Keep controller 
wiring separated from motor cable/wiring.
RS485 Protocol - Controller SW1 in RS485  position
The  RS485  protocol  mode  is  as  follows;  On  board  receivers  will  remain  in  active  mode  indefinitely. 
Transmitters must be turned off when the unit is not sending data, to prevent the line from sending and 
receiving data at the same time. Therefore when the PC is transmitting data its driver will be turned on 
and  each  of  the  units  connected  will  have  their  drivers  off.  If  they  are  requested  to  send  data  back  to 
the PC, the selected unit will turn it’s driver on to send the data and then turn it off after it has completed 
transmission.  Note:  The  above  protocol  is  done  internally  between  the  converter  and  the  DPN10601. 
The  RS485  method  of  communication  allows  increased  noise  immunity  and  increased  communication 
distance of up to 4000 feet without repeaters. RS485 repeaters allow an additional 4000 feet per repeater. 
The DPN10601 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. 
						

							9
RS232 to RS485 for multiple units or cables longer than 50ft
The DPN10601 can be connected to your PC serial port via a RS485 converter (model number: 485SD9TB 
sold separately ). This converter will convert the RS232 voltage signals to the compatible RS485 differential 
signals. Only one converter box is needed per serial port. Contact the factory or use the website www.
anaheimautomation.com for RS485 converter information and sales.
Terminating Resistor
To eliminate noise on the transmission lines or  when using a 4000 ft. or longer cable, a terminating resistor 
is suggested. If used, the termination resistor need only be added to the last (furthest from the converter 
box) DPN10601 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  DPN10601  is  addressed  using  a  programmable  register  allowing  the  PC  to  address  up  to  99 
DPN10601’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 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 the software, click on the “Verify Parameters” button located in the “Motion Tab”. To read and 
clear the error while in “Direct Mode”, use the error code “!” command. Once the error has been read and 
cleared, the LED will return to green and the 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 covered by this 
manual, please read the manual to see if it will answer your  questions. Be sure to look in the Troubleshoot-
ing Section located near the back of this manual. If you need assistance beyond what this manual can 
provide, you may call the factory direct for application assistance. If possible, have this manual in hand. 
It is often helpful to have the controller connected to a computer with the software installed. 
						

							10
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 
DPN10601 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.