Anaheim Discounted Package PKG231DPY56CBL User Manual

							910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990     Fax. (714) 992-0471     www.anaheimautomation.com
PKG-231-DPY56-CBL
System Diagram and Specifications
L010880
Included Components:
23Y104S-LW8-MS Stepper Motor
DPY50601 5Amp Stepper Driver Pack
CBL-20AWG-04C-010-MS Motor Cable
Sheet1
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POWER (Watts)  
TORQUE (oz
-in)  
SPEED (RPS)  
23Y104, DPY50601, Div by 5, Series  
TORQUE 
POWER  
						

							FEATURES
SPECIFICATIONS
910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990      Fax. (714) 992-0471     www.anaheimautomation.com
The 23Y104S-LW8-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-231-DPY56-CBL 
stepper motor/driver package.
23Y104S-LW8-MS - High Torque Stepper Motor23Y104S-LW8-MS - High Torque Stepper Motor
• NEMA 23 Frame Size
• Holding Torque - 175 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
Insulation Type: Class B Max Axial Force:2.2 lbs-Force
Model #NEMA 
Size Holding 
Torque (oz-in) Bipolar 
Current  (A) Bipolar 
Voltage  (v) Bipolar 
Resistance  (ohms) Bipolar 
Inductance (mH) Rotor 
Inertia
(oz-in-sec2) Shaft 
Diameter (in) Weight
(lbs) Length
(in)
23Y104S-LW8-MS 23175 1.45.0 3.6 12.00.0042 0.251.552.204
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
Soldered Together White/Black & White/Orange
Soldered Together White/Red & White/Yellow 
						

							3
Table of Contents
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
DPY50601 - Stepper Driver Pack 
With Programmable IndexerDPY50601 - Stepper Driver Pack 
With Programmable Indexer 
						

							4
Section 1: Introduction
The DPY50601 is a single-axis 5A bipolar microstep driver/controller, containing 2 Kbytes of nonvolatile 
stored programming space, quadrature encoder feedback, and a 125W power supply, all enclosed in a 
package.  It  provides  flexible,  independent  control  of  bipolar  stepper  motors  with  a  current  range  from 
0.5 to 5.0 amps/phase with microstepping resolutions from 200 steps per revolution to 12,800 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 DPY50601. The DPY50601 also has the ability 
for real time functions. 
The DPY50601 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 DPY50601’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 DPY50601 can be powered from 90-135 VAC, 50/60Hz,
Description
The MBC05641 driver in the DPY50601 is a microstep motor driver that can drive motors rated from 0.5 
to  5.0  amps/phase.  It  can  handle  4,  6  and  8-lead  motors  in  a  bipolar  fashion.   The  DPY50601’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).  With  the  DPY50601, 
various step resolutions can be implemented by the onboard dip switch. These divisions range from 200 
steps per revolution to 12,800 steps per revolution. Protection devices have been added to this driver for 
short circuit and open circuit conditions. The driver has built-in features to indicate power on (Green LED), 
Clocks being received (Yellow LED) and fault conditions (Red LED).
The PCL601 controller in the DPY50601 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 DPY50601 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  DPY50601  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 
DPY50601 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. Six testable TTL, CMOS and 24V compatible inputs and eight 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 
DPY50601 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:
90-135 VAC 50/60Hz
Operating Temperature:
0 to 60 degrees C
Pulse Output Range:
1 to 50,000 Hz
10uS negative going pulse width
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog input 1: 0 to 5VDC
Output Current Rating:
5 A/phase maximum running
3.5A/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
Terminal Descriptions - Driver
PositionDescription - Driver Inputs
1 Step Clock Input Anode (+): Internally Connected to controllers +5VDC
2 Step Clock Input Cathode (-): Internally Connected to controllers clock output
3 Direction Anode (+): Internally Connected to controllers +5VDC
4 Direction Cathode (-): Internally Connected to controllers direction output
5 ON/OFF Anode (+): Internally Connected to controllers +5VDC
6 ON/OFF Cathode (-): Internally Connected to controllers on/off output
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
5 Motor Ground
Motor Ground
Meant to be used in conjunction with the motor cable ground wire. Make sure the connection is only on 
one end of the motor cable ground wire. If no motor shield is available, and if the motor has no ground 
wire, the motor ground pin can be left with no connection. 
						

							7
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.
Terminal Descriptions - Controller
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
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
Position
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 
						

							8
Section 2: Driver Functions
Microstep Selection - Driver DIP Switch Settings
Switches 2, 3 and 4, of the DIP switch select the number of microsteps per step. The following table shows 
the standard resolution values along with the associated positions for the select switches. The standard 
waveforms are sinusoidal.
ResolutionSteps/RevSelect 1Select 2 Select 3Select 4 Auto Reduce Current
1 200OFFONONON Disabled
2 400OFFONONOFF Disabled
5 1000 OFFONOFF ON Disabled
8 1600 OFFONOFF OFF Disabled
10 2000OFFOFF ONON Disabled
16 3200OFFOFF ONOFF Disabled
32 6400OFFOFF OFF ON Disabled
64 12800 OFFOFF OFFOFF Disabled
1 200ONON ONON Enabled
2 400ONON ONOFF Enabled
5 1000 ONONOFF ON Enabled
8 1600 ONONOFF OFF Enabled
10 2000 ONOFF ONON Enabled
16 3200 ONOFF ONOFF Enabled
32 6400 ONOFF OFF ON Enabled
64 12800 ONOFF OFFOFF Enabled 
						

							9
Setting the Output Current
The output current on the DPY50601 is set by an onboard potentiometer. This potentiometer deter-
mines the per phase peak output current of the driver. The specified motor current of 1.4A for the 
23Y104S-LW8-MS (which is the bipolar value) is multiplied by a factor of 1.4 to\
 determine the 
current adjustment potentiometer value of 2.0Amps or 40%. 
Peak Current Potentiometer Setting Peak CurrentPotentiometer Setting
0.5A 0%3.0A 60%
0.6A 10% 3.5A 70%
0.9A 20% 4.0A 80%
1.5A 30% 4.5A 90%
2.0A 40% 5.0A100%
2.5A 50% ----
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. Do not connect or disconnect motor wires while power is 
applied!
Short-Circuit, Mis-Wire, and Over-Current Conditions
If it is found that there is a condition that causes an 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 
wiring, and turn power back on. 
						

							10
Section 3: Controller Functions
Methods of Communication
There are two methods for sending commands to the DPY50601. One is to directly talk to the DPY50601 
by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller), 
where the computer or PLC gives the DPY50601 serial commands to off-load its processor. For example: 
A PLC can utilize its outputs to toggle the DPY50601’s inputs and gain control of variable speeds, variable 
programs, variable distances, etc. Simply using the DPY50601 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 DPY50601 is to use the software program SMC60WIN to either 
manually control, or to write and send programs. This method is used when the DPY50601 is the main 
controller. For example: A DPY50601 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 DPY50601 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 DPY50601 accepts a baud rate of 38400 only.
RS232 Protocol - Controller SW1 in RS232 position
The DPY50601 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 DPY50601 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  DPY50601.  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  DPY50601. 
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 DPY50601 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.