Anaheim Stepper DPC50501 Users Guide

							September 2012 L01019411
Step Motor Selection Guide
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Part 
NumberUnipolar 
RatingSeries 
Peak 
RatingParallel 
Peak 
RatingSeries 
Current 
SettingParallel 
Current 
Setting
23Y206 3.0A 3.0A 6.0A 60% 100%
23Y210 5.0A 5.0A 10.0A 100% 100%
23Y306 3.0A 3.0A 6.0A 60% 100%
23Y310 5.0A 5.0A 10.0A 100% 100%
34Y108 4.0A 4.0A 8.0A 80% 100%
34Y207 3.5A 3.5A 7.0A 70% 100%
34Y307 3.5A 3.5A 7.0A 70% 100%
23Y108 4.0A 4.0A 8.0A 80% 100%
23Y106 3.0A 3.0A 6.0A 60% 100%
23Y104 2.0A 2.0A 4.0A 40% 80%
17Y302 --- 1.0A --- 22% ---
17Y202 --- 1.0A --- 22% ---
17Y102 --- 1.0A --- 22% ---
Setting the Output Current
The output current on the DPC50501 is set by an onboard potentiometer.  This potentiometer deter-
mines 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 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.
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 DPC50501, 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 confi guration of 
the motor.  There is a current adjustment potentiometer used to set the output current of the DPC50501.  
This sets the peak output current of the sine/cosine waves.  The specifi ed motor current (which is the 
unipolar value) is multiplied by a factor of 1.0, 1.4, or 2.0 depending on the motor confi guration  (series, 
half-coil, or parallel).
Peak Current Potentiometer Setting Peak Current Potentiometer 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% 5.0A 100%
2.5A 50% -- 
						

							September 2012 L01019412 Step Motor Confi gurations
Step motors can be confi gured as 4, 6, or 8 leads.  Each confi guration requires different currents.  Refer 
to the lead confi gurations and the procedures to determine their output current.
WARNING: Step Motors will run hot even when confi gured correctly.  Damage may occur to the motor 
is a higher than specifi ed current is used.  Most specifi ed motor currents are maximum values.  Care 
should be taken to not exceed these ratings.
6 Lead Motors
When confi guring a 6 lead motor in a half-coil confi guration (connected from one end of the 
coil to the center tap), multiply the specifi ed per Phase (or unipolar) current rating by 1.4 to de-
termine the current setting potentiometer value.  This confi guration will provide more torque at 
higher speeds when compared to the series confi guration.
When confi guring the motor in a series confi guration (connected from end to end with the cen-
ter tap fl oating) use the specifi ed per phase (or unipolar) current rating to determine the current 
setting potentiometer value.
4 Lead Motors
Multiply the specifi ed series motor current by 1.4 to determine the current adjustment potenti-
ometer value.  4 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.
8 Lead Motors
Series Connection: When confi guring the motor windings in series, use the per phase (or uni-
polar) current rating to determine the current setting potentiometer value. 
						

							September 2012 L01019413 Parallel Connection: When confi guring 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 
Table 3 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 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 Over Current Conditions
If it is found that there is a condition that causes on current in the driver phase transistors, the 
Red LED will turn on solid and power will be shut off the motor.  To reset the drive turn power off, 
check wiring, and turn power back on. 
						

							September 2012 L01019414
Move Number of Steps: The move number of steps command causes the motion to start in the direction 
last specifi ed.  This command will move the motor the number of steps given.  (Range: 0 to 8388607)
Move to Position: The move to position command specifi es 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)
Home to Soft, Home Limit (2 Switch Operation): This type requires two grounding type limit switches 
called home and soft.  The fi rst limit switch soft will decelerate the motor down to base speed.  It will con-
tinue 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 specifi ed.  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 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.
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.
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.
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.
Set Position: The set position command sets the position register to a designated value.  The number 
will be the absolute position of the motor.  The default value is 0.  (Range: -8388608 to +8388607)
Section 2: Controller Functions 
						

							September 2012 L01019415
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 Input 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 in-
tervention, 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 logi-
cally 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 specifi cation 
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 fl y-back 
protection.  Input wiring should be kept separate from step motor wiring.
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.
Finish Move: When writing a program, the fi nish 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 fi nish move command is used, the controller will keep on executing com-
mands, 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.
Run: The run command starts the execution of a stored program.
Quit: The quit command is used within a stored program and stops the 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 specifi ed number of mil-
liseconds.  (Range:1 to 9999) 
						

							September 2012 L01019416
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.
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.
Accelerated/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)
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)
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.
Command Description
A Verify Acceleration/Deceleration
B Verify Base Speed
F Verify if Controller is Busy
J Verify Jog Speed
M Verify Max Speed
N Verify Number of Steps
O Verify Outputs
P Verify Goto Position
Z Verify Position
+ Verify Direction (1 is CW, 0 is CCW) 
						

							September 2012 L01019417
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 SMC-
50WIN 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
Section 3: SMC50WIN Software
Installation
Software
•  The SMC50WIN is supplied on a CD, containing the setup program and the SMC50WIN 
software.
•  SMC50WIN software is compatible with all versions of Windows including Windows 
2000, Windows XP, Vista, and Windows 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 SMC50WIN icon to run the SMC50WIN software.
2.  Apply power to the controller unit.
3.  Set the appropriate communication setting by selecting Setup │ Com Port Settings 
from the menu bar. (Ctrl+M is a shortcut)
4.  Establish communications with the controller 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 communication has been established. (Ctrl+C is a shortcut)  
						

							September 2012 L01019418
“The Unit is Connected” / “The Unit is Not Connected”
On the right of the Toolbar, the user will fi nd the communication status of the controller.  If com-
munication is not established, please refer to the troubleshooting section.
File Menu
Setup Menu
Connect Establish communications with the controller.
Communication Settings... COM port & baud rate settings.
Axis Select axis (0-31) for multi drop units.
Autostart Program Enable/Disable program execution on power up.
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 SMC50WIN software.
Toolbar
Exit Exit the SMC50WIN software.
New Start a new program.
Open Open an existing program.
Save Save the current program.
Print Print the current program.
Calculator Open the desktop calculator.
Connect Establish communication with the controller. 
						

							September 2012 L01019419
Tab Sheets
Motion Controls and executes motion on the controller.
Program Write and modify PCL501 stored programs.
Motion Tab Sheet
Set Accel/Decel Send 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 jog speed parameter to the controller. (step/sec)
Set Position Set motor position.
Set Direction CW Set direction to clockwise.
Set Direction CCW Set direction to counter-clockwise.
Home using
(Home Switch)Motor will seek the home position by moving towards home switch. 
(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 below Motor will move number of steps entered.
Move to Position Motor will move to specifi ed position.
SlewMotor will ramp up to maximum speed and keep moving until stop motion is 
triggered.
Stop Motion Stop any motor motion.
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. 
						

							September 2012 L01019420
Motion Tab Sheet Tutorial
This tutorial will demonstrate the motion tab sheet:
1.  Start the SMC50WIN software and power up the controller.
2.  Click the connect icon and establish communications with the controller.
3.  With the motion tab sheet displayed.
4.  Enter 400 for the “Move number of steps below” button.
5.  Click the “Move number of steps below” button, the motor should move 400 steps - 1 
revolution on a 200 steps/rev motor running in half step mode.
Send Program to Controller Send current program to the controller.
View Program in Controller View program in the controller memory. 
Enable Autostart Program will start when controller is powered up.
Disable Autostart Program will only execute when run is clicked.
Run Execute the program in the controller memory.
Stop Abort program execution.
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 the currently selected line of code.
Delete Deletes the currently selected line of code.
Program Tab Sheet