Anaheim Stepper DPD60401 Users Guide

							. MANUAL FOR MODELS
SMC40  SERIES INDEXERDecember 3, 1999Manual SMC401299 
						

							2 TABLE OF CONTENTS
SECTION 1 - INTRODUCTION..................................................................................................................................4
STEP MOTOR DRIVER................................................................................................................................5
Technical Support.........................................................................................................................................5
Ordering Information.....................................................................................................................................5
SECTION 2 - QUICK START.....................................................................................................................................6
10 QUICK STEPS – Tutorial Program...........................................................................................................6
SECTION 3 - STEP MOTOR DRIVER.....................................................................................................................12
MODEL – DPD72401, DPK72402, & DPK72403 (BLD72 Driver)...............................................................12
BILEVEL DRIVE.........................................................................................................................12
HALF-STEP/FULL-STEP...........................................................................................................12
MOTOR ON/OFF INPUT............................................................................................................12
FAULT PROTECTION...............................................................................................................12
SETTING THE KICK CURRENT.................................................................................................................12
GROUNDING..............................................................................................................................................12
MOTOR CONNECTIONS............................................................................................................................13
WIRING DIAGRAM....................................................................................................................13
MODEL – DPD60401..................................................................................................................................14
MODE  SELECT  SWITCHES....................................................................................................14
MICROSTEP SELECTION.........................................................................................................14
ADJUSTING  THE  RUNNING  CURRENT................................................................................15
REDUCING  OUTPUT  CURRENT............................................................................................15
MOTOR  DRIVER  CONNECTIONS..........................................................................................15
STEP MOTOR CONFIGURATIONS..........................................................................................15
SECTION 4- FEATURES.........................................................................................................................................17
PRODUCT HIGHLIGHTS............................................................................................................................17
ENCODER FEEDBACK..............................................................................................................................17
PLC TYPE FUNCTIONS.............................................................................................................................17
MULTIPLE PROGRAMS.............................................................................................................................17
VARIABLES.................................................................................................................................................17
REGISTERS...............................................................................................................................17
BITS...........................................................................................................................................17
MOTION STATUS BITS.............................................................................................................18
EXTERNAL MODULES...............................................................................................................................19
THUMBWHEEL SWITCH............................................................................................................................21
REMOTE PANEL MOUNT..........................................................................................................................21
Installation..................................................................................................................................21
SECTION 5 - INSTALLATION..................................................................................................................................23
UNIT SELECTION.......................................................................................................................................23
BAUD RATE SELECTION...........................................................................................................................23
INSTALLATION – MOUNTING OPTIONS..................................................................................................23
DIMENSIONS - DRIVER PACKS................................................................................................................24
INDEXER TERMINAL BLOCK AND SWITCH LOCATION.........................................................................24
DIMENSIONS – PCL402 & PCL403............................................................................................................25
DIMENSIONS - SMC40M - 24I....................................................................................................................26AC POWER CONNECTION AND FUSE.....................................................................................................27
Single axis INDEXER CONNECTIONS.......................................................................................................28
pcl INDEXER CONNECTIONS....................................................................................................................29
INDEXER INPUTS  (Flat ribbon header).....................................................................................................30
INDEXER OUTPUTS (Flat ribbon header)..................................................................................................30
MOTOR CONNECTORS.............................................................................................................................31
PCL HOOKUP DIAGRAM...........................................................................................................................32
SECTION 6 - COMMUNICATIONS.............................................................................................................33
TALKING TO THE INDEXER......................................................................................................................33
RS232.........................................................................................................................................................33 
						

							3 RS422.........................................................................................................................................................33
HANDSHAKING SIGNALS..........................................................................................................................34
DTE VS DCE...............................................................................................................................................34
“A MANNER OF SPEAKING”......................................................................................................................35
RTS DEFINED.............................................................................................................................................35
CTS DEFINED.............................................................................................................................................35
SECTION 7-INTELLIGENT SOFTWARE.................................................................................................................36
DESCRIPTION............................................................................................................................................36
INSTALLATION...........................................................................................................................................36
SOFTWARE DEFAULTS............................................................................................................................36
THE FOUR PROGRAMS............................................................................................................................37
MAIN PROGRAM.......................................................................................................................37
PROGRAM 1, 2 and 3................................................................................................................37
MULTITASKING.........................................................................................................................37
ADDING, INSERTING, CHANGING OR DELETING A COMMAND..........................................37
AUTOSTARTING........................................................................................................................................38
SECTION 8 - COMMAND DESCRIPTIONS.............................................................................................................39
BRANCHING COMMANDS.........................................................................................................................40
START/ STOP COMMANDS.......................................................................................................................42
MOTION PROFILE......................................................................................................................................44
OUTPUT COMMANDS................................................................................................................................46
USER ENTRY COMMANDS.......................................................................................................................46
USER ENTRY COMMANDS (CoNTINUED)................................................................................................47
PROGRAM 1, 2, 3.......................................................................................................................................47
ENCODER COMMANDS.............................................................................................................................48
SECTION 9 – DIRECT PROGRAMMING................................................................................................................50
ALPHABETIC QUICK REFERENCE LIST..................................................................................................50
TALKING WITH A TERMINAL (TT1R2-1)...................................................................................................52
DIRECT PROGRAMMING QUICK START.................................................................................................53
TERMINAL COMMANDS (SMTNR2-1 and TT1R2-1).................................................................................54
SECTION 10 - SPECIFICATIONS...........................................................................................................................56
PERFORMANCE CURVES –DPD60401....................................................................................................57
SECTION 11 - TROUBLESHOOTING.....................................................................................................................59
SECTION 12 – ERROR CODES..............................................................................................................................60
BLINKING ERROR CODES (INDEXER).....................................................................................................61
SECTION 13 - GLOSSARY......................................................................................................................................69
APPENDIX A – ASCII CODE TABLE.......................................................................................................................71 
						

							SECTION 1INTRODUCTION4 SECTION 1 - INTRODUCTION
This manual is intended to help the user apply
the SMC40 family of products in motion control
applications. Familiarity with computers,
programmable logic controllers (PLCs), or
terminals is helpful, but is not essential.
The SMC40 family of products is based on
Anaheim Automation’s advanced step motor
controller integrated circuit. This high speed
microprocessor uses a simple language that can
access over 125 different commands.  These
commands deal with motion parameters,
encoders, inputs and outputs, variables, math
functions, and much more.  This functionality
produces a very powerful step motor indexer
that is able to handle even the most complicated
machine control.  Expansion Modules have
been added for this series to include easy use
of external thumbwheel modules, external
terminals, and additional inputs.
The SMC40 has two modes of operation:  Direct
Mode and Stored Program Mode.  In Stored
Program Mode a whole program is stored in the
SMC40’s internal memory (16,000 bytes).  Once
a program has been sent to memory, it is non-
volatile meaning if the power is turned off, the
program will still remain in the memory.  In
Direct Mode, commands are sent to the unit via
a serial port and are executed one command at
a time.
A step motor is essentially a digital device. If
you give the step motor driver 10 clock pulses
the motor moves 10 steps.  Sometimes a
closed-loop system is needed to verify that the
motor indeed moved 10 steps. The SMC40 will
accept encoder inputs to form a closed-loop
system.
The SMC40 is designed to communicate over a
RS232C or RS422 bi-directional serial data bus.
The RS422 serial bus is better suited for
industrial environments susceptible to
electrically noisy conditions.  RS422 can reliably
travel to a distance of 4000 feet. The RS232C
line can only be used to a distance of 50 feet in
a noise free environment.Almost all computers have, or can be equipped
with, an RS232 port.  If you wish to send your
RS232C signal over 50 feet, Anaheim
Automation manufactures a RS232C to RS422
Data Converter (Model DC1709).
The SMC40 provides programming of
acceleration, base speed (start up speed),
running speed, and the number of steps to be
taken in both relative and absolute positioning
modes. On absolute positioning moves, the
SMC40 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
SMC40 has a high level command set including:
looping, conditional statements, time delays,
power down motor, encoder feedback, maskable
I/O and open-collector (NPN) outputs.
Hard, Soft, and Home Limit Switch inputs are
provided for each axis. These features are
generally required in most machine control
designs. 96 Inputs and 24 Outputs are provided
per unit. These I/O may be used for monitoring
and controlling machine operation and/or
interaxis coordination.  These I/O are accessible
independent of the busy state of the axis
controls.  The Inputs are TTL/CMOS
compatible. The Outputs are current sinking,
open collector darlingtons.
The SMC40 has a built-in programmable reset
circuit so that all axes in the daisychain may be
reset. The outputs are reset to the off state
when the board is reset. Reset is automatic on
power-up or with a break signal on the RS232
or RS422 input.  Windows software is provided
when you purchase the unit.  This software
allows you to write and change programs that
are to be stored in the SMC40 for autostart use.
The software also allows you to save the
programs onto your computer disk, and easily
retrieve them when needed.  The program can
upload the stored program from the SMC40,
allow you to make changes, and then download
the program back to the SMC40. 
						

							SECTION 1INTRODUCTION5 STEP MOTOR DRIVER
A step motor driver is a device that takes input
signals (usually Clock and Direction) and
translates this information into phase currents in
the motor.  Each time the step motor driver
receives a pulse, the step motor moves one
step.  If the driver receives 200 pulses, the
motor moves 200 steps.  The motor steps at the
same frequency as the clock pulses.
TECHNICAL SUPPORT
If you have problems using any of the
equipment covered by this manual, please read
this manual completely to see if that will answer
the questions you have.  Be sure to look in the
TROUBLESHOOTING section on page 51 of
this manual.  If you need assistance beyond
what this manual can provide, contact your
Local Distributor where you purchased the unit
or the factory direct. Be sure to have this
manual for reference. It is helpful to have the
unit connected to a computer with the
appropriate software loaded.ORDERING INFORMATION
The table below lists a variety of SMC40
products available from Anaheim Automation.
These products include those covered by this
manual along supporting cables and devices.
We are continually adding new products to our
line, so please consult your nearest Authorized
Anaheim Automation Distributor or
Representative for information on the latest
releases.  We can also be found on the web, at:
http://www.anaheimautomation.comMODEL NUMBERDESCRIPTIONDPD72401Single-Axis Intelligent Driver Pack,                                 1 - 7 AmpDPD60401Single-Axis Intelligent Microstep Driver Pack,                1 - 6 AmpDPK72402Dual-Axis Intelligent Driver Pack,                                   1 - 7 AmpDPK72403Triple-Axis Intelligent Driver Pack,                                 1 - 7 AmpPCL401Single-Axis Intelligent Standalone ControllerPCL402Dual-Axis Intelligent Standalone ControllerPCL403Triple-Axis Intelligent Standalone ControllerSMC40M-24I24 Input Expansion ModuleSMC40M-TWS7Thumbwheel Expansion ModuleAA2M5050 Pin Breakout Terminal BoardAA268250 Pin Ribbon Cable Assembly, 2 FeetAA9FMC-6Serial Cable, 6 FeetSMTNR2-1Remote Panel Mount Programmer/TerminalTT1R2-1Handheld Programmer/TerminalTABLE 1: Ordering Information 
						

							SECTION 2QUICK START6 SECTION 2 - QUICK START
You will need:
 Driver Pack (Single Axis)
 Compatible Step Motor
 Serial Cable
 Computer with Windows 3.1 (or above)
 Intelligent Indexer Software Package
 Switch
 5VDC LED or Equivalent (Optional)
10 QUICK STEPS – TUTORIAL PROGRAM
STEP 1 - Install the Software
To install the SMC40 Software refer to Section 7 - Intelligent Software
STEP 2 - Setup the Software
Run the Intelligent Indexer Software by Double Clicking the SMC40 Icon in Windows.
The Defaults are:
Com PortCom1
Baud Rate9600
UnitsSteps
Number of Axes       1 
						

							SECTION 2QUICK START7 STEP3 - Connect a Motor
Connect the step motor. Use Section 3, Motor Hook Up to assist. Set the Kick Current to match the
motors rated phase current.  The kick current potentiometer is located on the driver side labeled Kick
Current Adjust.  Whenever you are connecting wires to the Driver Pack, be certain that the power is
off or significant damage can occur.
STEP 4 - Connect the Switch and (Optional) LED
This switch is used as a “start switch” to cause the Driver Pack to begin sequencing through the program.
Connect one side of the switch to Pin #1 (Input #1) and the other side of the switch to Pin #5 (0 VDC).
The LED is optional. The LED demonstrates how an Output can be turned on and off.  Connect the
Anode  side of the LED to Pin # 11 (+5 VDC) and the Cathode side of the LED to Pin #13.  Note: A
resistor must be  placed in series with the LED to limit the current.  A +5V LED has the series resistor
internally connected.Pin #DescriptionPin #Description1Input #1100 VDC2Input #211+5 VDC3Input #312Clamp4Input #413Output #150 VDC14Output #26Input #515Output #37Input #616Output #48Input #7170 VDC9Input #8Table 3: Connector TB3 Pinout
Figure 1: Connect the Switch and LED
STEP 5 - Connect the Serial Cable to the Driver Pack
To connect your computer to the Driver Pack you need to connect the serial ports (usually COM1 or
COM2) to the units lower DB9 connector.  This connector is labeled RS232/RS422 IN (P1). It is helpful
to know which communications port (Com Port) is in use when we setup the software.  In most
computers, a 9 pin Male to Female cable will work.Figure 2: SMC40 Indexer 
						

							SECTION 2QUICK START8 STEP 6a - Set up the Communication Slide Switch to RS232
Refer to Figure 2 (silkscreen) on the side of the Driver Pack for the slide switch placement
STEP 6b - Set up Unit Number
STEP 6c - Set up the Baud Rate
To locate the Baud Rate Switch (SW4) refer to Figure 2.  It is the silkscreened table on the Driver Pack.
Note: the default is 9600 ( position 5) on the Baud Rate Switch (SW4). Refer to Section 5, page 23 for
further assistance when selecting the Baud Rate.
STEP 6d - Power-up the Driver Pack
Plug in the Driver Pack.  Standard models DPD/DPF7240_ Series, DPFEN403, DPF11401 and DPD60401
are supplied with a detachable linecord which is plugged into a standard wall socket (115VAC, 60 Hz).
The above models are available with a X250 suffix. These units are configured to accept a wide variety of
voltages.  You must configure the terminal block to handle the desired voltage level. (Refer to Section 4,
page 26 for X250 Version).
STEP 6e - Press the Connect Icon Button
If everything is connected properly, a green “Connected” indicator will be displayed on the top right hand of
the screen.
STEP 7 - Write a Program
The Software automatically comes up with the file
SMC40.MDB selected.  This will be a blank
program.  When you save the program you will
need to give it
another name.
We will save our
program as
TEST1.
There are four program areas that your program may reside in. You will be using the Main Program Area for this
test  program.Refer to Figure 2 or silkscreen on the side of the Driver Pack for the rotary switch setting (SW3).
Note the Default Unit Address 0 corresponds to Axis X.ê ê 
						

							SECTION 2QUICK START9 To begin programming place the cursor on the line you wish to
enter the command.
Select the Add button by clicking it once on the main
programming screen.
This will take you into the select command programming screen.
Select the Motion Profile Button.
Select the highlighted Base Speed and enter 500 for the
Value.  Click OK.
This will take you back out to the main programming screen.
You will see that line 1 now reads Base Speed 500 on Line 1.
Note: For Single-Axis units, an X will precede many of the
commands.LineCommandParameter 181éèLineCommandParameter 11Base Speed50082Repeat the same process when entering the rest of the
commands.
Turn to the next  page to continue the test program. 
						

							SECTION 2QUICK START10 The following is an overview of the program you will write:
The initialization of the parameters will be set up first. Base Speed will be set to 500 steps/sec, Max Speed to 1000
steps/sec, and Ramping (Accel / Decel) to 10000 steps/sec. Next, you will wait for Input #1 to go to Low (0VDC).
While waiting or pausing for the input to go low ( 0VDC), the motor current will be turned off. When Input #1 goes
to 0VDC, motion will start. The motor will move in the Clockwise direction 400 steps. Output #1 will be set to 0VDC
(Refer to Section 8 on Command Descriptions for further assistance), a  wait delay of one second will occur and
the output will be reset back OFF (+5VDC). This procedure will be looped four times. The program will repeat if
Input #1 goes to 0VDC. Place Branch Quit commands on all Four Programs, even if they are not utilized.
Refer to the Command Column in the program table above for programming assistance. Note that the Location of
Command  Column will help locate the commands needed. Note that Command Locations are in levels for
example step1 step2 step3. The Parameters will be the values and labels necessary to complete the test
program.LineLocation of CommandCommandValue to be EnteredParameter 1Parameter 281Motion ProfileXBase SpeedEnter Value of 5005002Motion ProfileXMax SpeedEnter Value of 100010003Motion ProfileXAccel/DecelEnter Value of 10000100004Branching   LabelLabelEnter Label  as PausePause5Motion ProfileXCurrent HoldEnter Value of 006Branching   If(bit)ThenIf I1 = 0Then Branch to LabelStart MotionElse Then Branch toLabel PauseThen Start
MotionElse Pause7Branching   LabelLabelStart MotionStart Motion8Branching   For Loop \Loop  TopLoop Top
Start MotionClick Loop TopEnter on Loop TopLabel Start Motion.Enter 4 in Number ofTimes.4 Times9Motion ProfileXDir+Choose Dir+10Start/StopXGo RelativeChoose Go Relative40011Start/StopX Wait MotorClick Wait Motor12OutputsSet OutputsClick OUT1 ONON:1OFF:13Branching   Wait DelayWait DelayEnter Value of 1000100014OutputSet OutputsClick OUT1 OFFON:OFF:115Branching   For Loop \Loop BottomLoop Bottom
Start MotionClick Loop Bottom.Enter on Loop BottomLabel Start Motion.16Branching  Goto   LabelGotoEnter Label  as PausePause17Branching   QuitBranch QuitClick OKNote:  If your program has problems and is showing errors:
1.  Save your program by giving it a name.(Example: Test1)
2.  Power down the Indexer momentarily, then Power Up.
3.  Reset the Indexer at the Menu heading under Setup
4.  Click the Connect Button ( Upper Right most button).
5.  Programs are Auto Saved so that you may resume where you left off.