Anaheim Stepper DPC40501 Users Guide

							11 #L010089December 2001
Wiring Diagram
Microstep Selection (SW1 Settings)
The select switches 2, 3 and 4 of the DIP switch, allow the user to select the number of microsteps per
step. The table below shows the standard resolution values along with the associated positions for the
select switches. The standard waveforms are sinusoidal. Microstep Selection Switches are located on the
side of the DPC40501.
n o i t u l o s e Rv e R / s p e t S1 t c e l e S2 t c e l e S3 t c e l e S4 t c e l e St n e r r u C e c u d e R o t u A
100 2FF ONONONOde l b a s i D
200 4FF ONONOFF Ode l b a s i D
500 0 1FF ONOFF ONOde l b a s i D
0 100 0 2FF ONOFF OFF Ode l b a s i D
6 100 2 3FF OFF OFF OFF Ode l b a s i D
100 2NONONONOde l b a n E
200 4NONONOFF Ode l b a n E
500 0 1NONOFF ONOde l b a n E
0 100 0 2NONOFF OFF Ode l b a n E
6 100 2 3NOFF OFF OFF Ode l b a n E 
						

							12 #L010089December 2001
Motor Selection
The DPC40501’s bipolar microstep driver is compatible with both bipolar and unipolar motor configurations,
(i.e. 8 and 4 lead motors, and 6 lead center tapped motors).
Step motors with low current ratings and high inductance will perform better at low speeds, providing
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 DPC40501 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 appropriate current
level based on the motor being used.
Anaheim Automation offers a comprehensive line of step motors in 17, 23, 34 and 42 frame sizes.
Contact the factory to verify motor/ drive compatibility
.
Step Motor Selection Guide
Anaheim Automation offers motor cable, making hookups quick and easy! Contact the factory or
visit our website www.anaheimautomation.com for more motor and cable offerings.
# t r a Pr a l o p i n U
g n i t a Rk a e P s e i r e S
g n i t a Rl e l l a r a P
g n i t a R k a e Pt n e r r u C s e i r e S
g n i t t e St n e r r u C l e l l a r a P
g n i t t e S
6 0 2 L 3 2A0 . 3A0 . 3A0 . 6%0 7%0 0 1
6 0 3 L 3 2A0 . 3A0 . 3A0 . 6%0 7%0 0 1
8 0 1 N 4 3A0 . 4A0 . 4A0 . 8%0 0 1%0 0 1
7 0 2 N 4 3A5 . 3A5 . 3A0 . 7%5 8%0 0 1
7 0 3 N 4 3A5 . 3A5 . 3A0 . 7%5 8%0 0 1
8 0 1 L 3 2A0 . 4A0 . 4A0 . 8%0 0 1%0 0 1
6 0 1 L 3 2A0 . 3A0 . 3A0 . 6%0 7%0 0 1
4 0 1 L 3 2A0 . 2A0 . 2A0 . 4%5 3%0 0 1
3 0 2 L 7 1A5 . 1A5 . 1A0 . 3%0 2%0 7
2 0 2 L 7 1A0 . 1A0 . 1A0 . 2%0%5 3
2 0 0 L 7 1A0 . 1A0 . 1A0 . 2%0%5 3 
						

							13 #L010089December 2001
Setting the Output Current
The output current on the DPC40501 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:
Reducing Output Current
Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position and
occurs approximately 20mSec after the last positive going edge of the step clock input. The amount of
current per phase in the reduction mode is approximately 70% 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.
Determining 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 DPC40501, 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 DPC40501.
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 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.
t n e r r u C k a e Pg n i t t e S r e t e m o i t n e t o Pt n e r r u C k a e Pg n i t t e S r e t e m o i t n e t o P
A 0 . 1%0A 8 . 2%0 6
A 3 . 1%0 1A 1 . 3%0 7
A 6 . 1%0 2A 4 . 3%0 8
A 9 . 1%0 3A 7 . 3%0 9
A 2 . 2%0 4A 0 . 4%0 0 1
A 5 . 2%0 5- --- 
						

							14 #L010089December 2001
4 Lead Motors
Multiply the specified series motor current by 1.4 to determine the current adjustment potentiometer
value. Four 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.
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 determine the current
setting potentiometer value. This configuration will provide more torque at higher speeds when compared
to the series configuration.
When configuring the motor in a 
series configuration (connected from end to end with the center tap
floating) use the specified per Phase (or unipolar) current rating to determine the current setting
potentiometer value. 
						

							15 #L010089December 2001
8 Lead Motors
Series Connection: When configuring the motor windings in series, use the per Phase (or unipolar)
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 connections above, use the table
on page 13 to choose the proper setting for the current setting potentiometer.
Connecting the Step Motor
Phase 1 and Phase 3 of the step motor are connected to pins 1 and 2 on connector TB4. Phase 2 and
Phase 4 of the step motor are connected to pins 3 and 4 on connector TB4. The motors case can be
grounded to pin 5 on connector TB4.
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 direction input, switch the
wires on Phase 1 and Phase 3.
WARNING: Do not connect or disconnect motor wires while power is applied!
Mis-Wire Detection
When power is applied to the DPC40501 there is a brief moment for mis-wire checks of the motor cables.
If it is found that there is a mis-wire, the yellow LED will blink and power will be shut off to the motor. To
reset the drive turn power off, check wiring, and turn power back on. 
						

							16 #L010089December 2001
Section 2: Controller Functions
Move Number of Steps: The move number of steps command causes the motion to start in the direction
last specified. This command will move the motor the number of steps given. (Range: 0 to 8388607)
Soft Limit Switches: These switches are used exclusively when homing to a datum point. If positioned
properly with the appropriate parameters, it causes the motor to ramp down to the base speed before
encountering the home limit switch. Move to Position: The move to position command specifies the next absolute position to go to. The
controller automatically sets the direction and number of steps needed to go to that position.
(Range: -8388608 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) on the terminal block.
Hard Limit Switches: When a hard limit switch is encountered, the motion will stop. 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 indexing type functions.
Home Limit Switch: This switch is used to establish the reference position designated “home” in home to
home limit or home to soft, home limit. Home to Soft, Home Limit (2 Switch Operation): This type requires two grounding type limit switches
called home and soft. The first limit switch soft will decelerate the motor down to base speed. It will
continue to run at base speed until it receives a home limit switch input causing the motor to stop. The
home limit switch only activates after a soft limit is sensed. The soft limit is not bidirectional, meaning that
it will work in only one direction as specified. The soft limit switch will work for any type of motion. The
home limit switch will work only for home motions.
Note: Whenever a soft limit switch is activated, the motor will decelerate and run at base speed. Be sure
to come back passed the soft limit switch to set any origins, otherwise the motor will decelerate as it goes
passed the soft limit switch.
Home to Home Limit: This type of homing differs in that only one limit switch is needed. The home limit
switch in this case causes the motor to ramp down to base speed, reverse direction and continue until the
limit switch is released. This is a good way to compensate for any backlash in the system. It is also useful
for minimizing the number of limit switches needed for homing.
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: -8388608 to +8388607) 
						

							17 #L010089December 2001
Finish Move: When writing a program, the finish move command is used directly after a motion command.
With this command, the controller will see a busy signal until the move is complete before executing any
further commands. Unless the finish move command is used, the controller will keep on executing
commands, even though the controller is not ready to use it. This data will be ignored by the controller, so
the program will not work as expected.
Quit: The quit command, used within a stored program, stops execution of the program. This command
must be used at the end of all programs. Run: The run command starts the execution of a stored program. Slew: The slew command will accelerate the motor up to maximum speed and continue to run at the
speed until reaching a hard limit switch, soft limit switches, or receiving a “.” (stop hard) command.
Wait: In stored program mode, the wait command pauses the program for the specified number of
milliseconds. (Range: 1 to 9999) Jog Inputs: Jog is a manual function. The user can select the direction and speed (fast or slow) by
grounding the appropriate combinations of inputs on a particular axis. These inputs are located on the
terminal block. To jog a motor, it is necessary to ground the jog input on the axis for the direction desired.
For fast jog, both the fast and jog command for the appropriate direction must be low at the same time.
The closure of jog causes the motor to start at base speed and accelerate at a predetermined rate to jog
speed. When the fast input is closed, the motor will then accelerate to a pre programmed speed of 10kHz.
The actual jog rates can be programmed. Fast jog is not programmable. 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.
Programmable Inputs and Outputs: Four inputs and two outputs are provided per axis. 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 to wait for temperature to be reached.
Outputs may be used to operate coolant valve, air cylinders, relays, or, with the right interfacing, any
electronically controlled device. The inputs are TTL compatible. Since the inputs have pull up resistors, all
that is required for a signal is a switch closure to ground (0VDC). With zero volts on the input, the pull up
resistor source current is approximately 5mA. This will make the inputs read like they are logiclly reverse.
A grounded input will read a “1” and an open input will read a “0”. 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). The
outputs are current sinking, open drain FETs. They are capable of sinking up to 75mA per output with
voltages up to 40VDC. Turning an output on will pull the pin to ground and turning an output off will make
the pin open.
Note: For inductive loads, customers must connect a clamping diode in order to provide adequate fly-back
protection. Input wiring should be kept separate from step motor wiring. 
						

							18 #L010089December 2001
Max Speed: The max speed is the top speed the user wants the motor to run at. This speed must always
be greater than the base speed. It is entered directly as the number of steps/second.
(Range: 77 to 15000) Acceleration/Deceleration: The acceleration and deceleration are by default the same value. This function
controls the time that the motor will take to move from base speed to max speed. The higher the value, the
slower the motor will accelerate. The same principal applies for the deceleration which is controlling the
time it takes to go from maximum speed to base speed. The higher the value, the slower the motor will
decelerate. (Range: 1 to 255)
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. (Range: 77 to 3500) Loop: The Loop instruction allows the user to loop a program a variable number of times. The program
will loop to the designated address location of the program. The address must always be a lower address
value than the instruction itself. No nested loops are allowed.
Jog Speed: The jog speed sets the slow jog rate. Jog (+/-) can also be used in conjunction with the FJOG
pin. The FJOG pin, when grounded, will ramp the motor to 10kHz. This speed must always be greater
than the base speed.
d n a m m o Cn o i t p i r c s e D
Ano i t a r e l e c e d / n o i t a r e l e c c a y f i r e V
Bde e p s e s a b y f i r e V
Fys u b s i r e l l o r t n o c f i y f i r e V
Jde e p s g o j y f i r e V
Mde e p s x a m y f i r e V
Nsp e t s f o r e b m u n y f i r e V
Ost u p t u o y f i r e V
Pno i t i s o p o t o g y f i r e V
Zno i t i s o p y f i r e V
+)W C C s i 0 , W C s i 1 ( n o i t c e r i d y f i r e V
Verify: The verify command causes the 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 permissible verify commands
are shown below. 
						

							19 #L010089December 2001
Section 3: SMC50WIN Software
The SMC50WIN software is a handy utility that supports Anaheim Automation’s line of PCL501 and
PCL511 step motor controllers.  Connecting your PC to the controller, via a serial cable, the SMC50WIN
software can easily perform the following tasks:
• Exercise and monitor the controller
• Write and edit stored programs for stand-alone operation
• Directly communicate with the controller
The software will automatically switch between the PCL501 and PCL511 screens when the controller is
connected. The default screens are for the PCL501 when no controller is connected.
Getting Started
1) Double click on the SMC50WIN icon to run the SMC50WIN software.
2) Apply power to the controller unit.
3) Set the appropriate communication setting by selecting 
Setup | Communication Setting
     from the menu bar.
4) Establish communications with the controller by clicking on the Connect Icon, or select
     
Setup | Connect. If the unit is connected properly, the program will notify you when communica-
    tions has been established.
Installation
Software
• The SMC50WIN is supplied on a CD, containing  the setup program and the SMC50WIN
    software
• SMC50WIN is compatible with all versions of Windows including Windows 2000 and
   Windows XP
Windows 3.x Installation
1) Insert the CD into the drive
2) From the Program Manager select 
File | Run
3) Enter 
D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
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 
						

							20 #L010089December 2001
“The Unit is Connected” / “The Unit is NOT Connected”
On the right of the Toolbar, the user will find the communication status of the controller. If communication
is not established, please refer to the troubleshooting section.
Nm a r g o r P w e. m a r g o r p w e n a t r a t S
O. . . m a r g o r P n e p. m a r g o r p g n i t s i x e n e p O
m a r g o r P e v a SA. . . s. m a r g o r p t n e r r u c e v a S
P. . . t n i r. m a r g o r p t n e r r u c t n i r P
Ext i. e r a w t f o s N I W 0 5 C M S e h t t i x E
File Menu
Setup Menu
Ct c e n n o. r e l l o r t n o c e h t h t i w s n o i t a c i n u m m o c h s i l b a t s E
n o i t a c i n u m m o CS. . . s g n i t t e. s g n i t t e s e t a r d u a b & t r o p M O C
As i x. s t i n u p o r d i t l u m r o f ) 1 3 - 0 ( s i x a t c e l e S
t r a t s o t u APm a r g o r. p u r e w o p n o n o i t u c e x e m a r g o r p e l b a s i d / e l b a n E