Anaheim Stepper DPD60401 Users Guide

							SECTION 9DIRECT PROGRAMMING51 MiscellaneousVNVersion NumberIDIdentify
HCHigh speed counter
HPHigh Priority
MHMotor Hold Current [X/Y/Z]
@unit select
@.unit select all
#indirect register
!Error
ACAuto Cursor
AEAuto Error
ALAuto Linefeed
CR Cold Reset
DLDelay
DPDecimal Place
ECError Code
FDFull Duplex
JFJog Fast Input bit/configuration
LBLabel
WDWait Delay [X/Y/Z]
WRWait Read Value
WSWait value Scale Factor
WWWait Write
J-Jog- Input Configuration [X/Y/Z]
J+Jog+ Input Configuration
[X/Y/Z]
JFJog Fast Input configuration
[X/Y/Z]
FDFull Duplex
UPUnlock Program
LPLock Program
ENCODEREAEncoder Auto-correction
[X/Y/Z]EDEncoder Delay Register [X/Y/Z]
EMEncoder to Motor ratio [X/Y/Z]
EPEncoder Position [X/Y/Z]
EREncoder Retries [X/Y/Z]
EWEncoder Window (auto-
correction)
LIMIT INPUTSH-Hard - limit inputH+Hard + limit input
HIHome limit Input
SISoft Limit Input
SLSoft Limits EnableNote: Refer to Chapter 13 for Command Set 
						

							SECTION 9DIRECT PROGRAMMING52 TALKING WITH A TERMINAL (TT1R2-1)
WARNING: DO NOT CONNECT THE PC AND HANDHELD TO SMC40 AT THE SAME TIME.
DOWNLOAD PROGRAM AND THEN TEST WITH HANDHELD AFTER DISCONNECTING FROM PC.
Start Communications
Press CTRL and SHIFT simultaneously and while holding down on those two buttons press F1. This will
now display the terminal parameters. Press F2 to scroll through the parameters. Set the Address and the
Baud Rate on the SMC40 Indexer switches first (Pg 24), then set the Baud Rate on the Terminal. Press F1
to scroll through the different settings available. The SMC40 Indexer will communicate by sending the
characters back, so be sure to have the Terminal with the Echo = Disable set.. Data Bit  = 7, Parity =
Space, Display PE = Disable, Repeat  = Fast, Handshake = Disabled, and Self Test = Disabled.
Note:   Always set the Terminal to Full Duplex On (FD1) when programming commands. Standard
Communications Settings are 8 Bit with No Parity. The TT1R2-1 will accomplish this buy setting the
Data Bit = 7 and the Parity = Space. AL = 1 will allow the commands to be entered one per line as
shown in the example below.
Connect the Terminal
Type @0 (  where 0 is the axis you dialed in SW3 )
Notice that the Status LED should start to blink rapidly on the indexer.
Type ID
This should return the version number of the chip - like “SMC40”
Example of Entering a Short Program
@0‘select axis 0
ID‘chip type
“SMC40”
VN‘version number
“0”
AL1‘Auto -Linefeed On
FD1‘Full Duplex
PI1LB TOP‘Label Top
PI2XMH1‘Current Motor Hold/ Power Off
PI3XMM4000    ‘Program Insert at line 1, Max Speed = 4000
PI4XMB500‘Base Speed = 500
PI5XMN400‘Distance = 400
PI6XGR‘Go Relative
PI7XWM‘Wait Motor until motion is complete
PI8BG TOP‘Branch Goto Label Top
PS‘Program Start
Motion should start at this point and your stored program will begin to execute.
Note: To stop this stored program inserted you need to type @0 then Enter.
Example of a Short Program on the X Program
XPI1XMH1‘Current Motor Hold/ Power Off
XPI3XMM4000  ‘Program Insert at line 1, Max Speed = 4000
XPI4XMB500‘Base Speed = 500
XPI5XMN800‘Distance = 800
XPI6XGR‘Go Relative
PS‘Program Start 
						

							SECTION 9DIRECT PROGRAMMING53 Note: To stop this stored program inserted you need to type @0 then Enter.
DIRECT PROGRAMMING QUICK START
Direct Programming of the Driver Pack can be done with any programming language that can
communicate via the serial port.  The complete Command Dictionary is located in the directory that the
software was installed in. Section 2
A sample of Commands
@0The @ (at symbol) is used to select which unit is to be communicated with.  This unit, in this case
zero, must be the setting on the intended unit.
IDEntering this command will return the indexer type.
 >SMC40
FD1The full duplex command…
XMN100 The motor number command enters the distance that the motor will travel when indexed by a go
relative command.
XMNEntering just MN alone will return the motor number.  The default value is zero.
 >100
XGRThe Go Relative command tells the motor to index the MN number of steps.
PI1XGRThe PI is the Program Insert command.  Here a go relative command is inserted in line
one.  If the program is already store in the memory, the PI1 command here will push the
whole program down a line.
PSProgram Start is used to run the program stored in the memory.
PW2Program Window set the number of instructions to be displayed when the Program List command
is used.
PL1The Program List command list the program starting at the line number proceeding the PL.
 >1 GR
 >2 BEThe Branch End is displayed when there is no more instructions in the Indexer’s memory.
To List a Program
PL0‘Program list starting at line 0
“XMH=1”
To Edit a Line
PE4 XMN400‘Edit Line 4 to read X Program Motor Number 400
To Delete a Line
PD2‘Delete line 2
To Check Memory in a Program
PM
Example To Stop a Direct Command In Execution
@0
XGS‘X Program Go Slew - Motion Activated
SA‘Stop All Indexers 
						

							SECTION 9DIRECT PROGRAMMING54 TERMINAL COMMANDS (SMTNR2-1 AND TT1R2-1)
WARNING: DO NOT CONNECT THE PC AND HANDHELD TO SMC40 AT THE SAME TIME.
DOWNLOAD PROGRAM AND THEN TEST WITH HANDHELD AFTER DISCONNECTING FROM PC.
The terminal commands are used in conjunction with the Panel Mount Terminal (SMTNR2-1) or the Handheld
Terminal (TT1R2-1). The commands allow an SMC40 program to prompt an operator per operational information
needed to begin a cycle of operation. The instructions are Write Text , Write Value, Write ASCII, and Read Value.
Write Text  allows the user to transmit a character string to the handheld terminal, which produces a character
string on the terminal display. Write Value allows the user to transmit a numerical value to the terminal display.
Write ASCII allows the user to transmit an ASCII character/code to the terminal display . The Read Value
command waits for a numerical value to be entered- a number terminated by a carriage return from the handheld
terminal – and stores it in the RV register.
WARNING: Do not connect PC Serial Port to the SMC40
Indexer at the same time the Handle Terminal is
connected. Damage may occur to the serial port or
handheld.
It is best to write your program, download the program via the
serial port, enable the autostart from the Program Menu, then
power the indexer down.
The RS232 cable must now be disconnected from the SMC40
and the handheld terminal connector should be plugged into
the telephone connector J1. The final step now is to power up
the SMC40 Indexer.
The sample program below demonstrates the terminal commands: Lines 1 and 2 are used to clear the  terminal
display and home the cursur to the top left corner of the display using the ESC E code. Line 3 is a text string that
will be displayed on the LCD Screen. Line 4 is the command that drops the cursur to column one of the next line.
Line 5 will read a numerical value the user enters when excecuting the program. Line 6 is a math application that
will use the Register Value(RV), multiply it by 400 and set the x-axis motor number equal to the result. Line 7 will
index the motor the value stored in the Result Register. Line 8 is a branch quit command required at the end of all 
						

							SECTION 9DIRECT PROGRAMMING55 programs. 
						

							SECTION 10SPECIFICATIONS56 SECTION 10 - SPECIFICATIONS
Power Requirements
7A
Fuse
Power Requirements for PCL Versions105/ 125 VAC, 50/60Hz      ( Standard Package )
7 Amp, 5mm, Fast blow type
Littlefuse: 217005
210/ 250VAC, 50/60 Hz      ( X250 Version )
7 Amp, 3AG, Fast blow type
9 –12 VAC 50/60 Hz
+5VDC @  1.5 Amp
+12 – 16 VDC UNREG @ 1.5 Amp
NOTE: Any External Electric Component current
(Amp) consumption should be taken into account..Operating Temperature0 to 60 degree CDriver Output Current Rating1 to 7.0 Amp per phase ( DPD72401,DPK Series)
1 to 6.0 Amp per phase ( DPD60401)Control InputsTTL-CMOS Compatible
Logic 0: 0 to 0.8 VDC
Logic 1: 3.5 to 5.DCPulse Output Range1 to 2,500,000Outputs (CLK, DIR, PWR):
 TTL-CMOS compatible
  Logic 0:
  Logic 1:0 to 0.32 VDC, 4 Ma
4.3 to 5.1 VDC, 4 MaBaud Rate:RS422 Input
  Logic 0
  Logic 1
sensitivity50 to 38400 BAUD-2 to -10 VDC, 1.5 Ma
2 to 10 VDC, -2.5 Ma
200 mVRS422 Output:
   Voltage Output High
   Voltage Output Low2.5  VDC min, 20 Ma
0.5 VDC max, 20 MaRS232 Input
   Logic 0
   Logic 1
sensitivity2 to 10 VDC, 1.5 mA
-2 to -10 VDC, -2.5 mA
200 mVRS232 Output
   Logic 0
   Logic 10.5  VDC max, 20 mA
2.5 VDC min, 20 mAEncoderQuadrature onlyInputs TTL-CMOS Compatible
Logic 0:
Logic 1:5 VDC @ 10ma Max
0 to 0.32 VDC, 4 Ma
4.3 to 5.1 VDC, 4 MaData Format: Half-Duplex, 1 start bit, 8 data bits, no parityOutputs (24 programmable I/O):
  Maximum voltage:
  Current sink:
NOTE: Always use a Diode (Motorola 1N4002 or Equivalent) to
clamp any Inductive Loads (Relays, Solenoids, etc.) due to fly
back voltages.Open Collector Type
40 VDC
500 ma (total, for outputs 1 - 8)
500 ma (total, for outputs 9 - 16)
500 ma (total, for outputs 17 - 24)
Maximum Current  Sourcing 0.75 AMPS 
						

							SECTION 10SPECIFICATIONS57 +5VDC Output ( PCL401 ,DPD72401, and DPD60401)
+5VDC Output ( PCL402, PCL403, DPK72402,and DPK7403)Maximum Current  Sourcing 0.75 AMPSMODULE SPECIFICATIONS
SMC40 to Input Module Cable Maximum Length
5 feetInputs Internal pull-up Resistor to 5V1k ohmsMounting:DIN RailAdditional Expansion Modules Connector (Refer to Section 4) J2PERFORMANCE CURVES –DPD6040134N214 With DPD60401 Driver, Series, Divide By Ten
0 100 200 300 400 500 600
700
800
900 1000
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 20 40 60 80 100 120
140
160
180
200POWER (Watts)TORQUEPOWER34N214 With DPD60401 Driver, Half Coil, Divide By Ten
0 50 100 150 200
250 300 350 400 450
500
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 20
40 60 80 100 120
140 160 180 200POWER (Watts)TORQUEPOWER23L310 With DPD60401 Driver, Series, Tenth Step
0 40 80 120 160 200
240
280
320 360 400
05101520253035404550
SPEED (RPS)
TORQUE (oz-in)0 20 40 60
80
100
120 140 160 180 200POWER (Watts)TORQUEPOWER34N108 With DPD60401 Driver, Tenth Step, Parallel
0 50 100 150
200
250 300 350 400 450 500
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 20
40
60
80
100 120 140 160 180
200POWER (Watts)TORQUEPOWER 
						

							SECTION 10SPECIFICATIONS58 PERFORMANCE CURVES - DPD72401 SERIES23L310 With DPD72401 Driver
0 24 48 72
96 120 144
168
192 216
240
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 20 40 60
80 100 120 140 160 180 200POWER (Watts)TORQUEPOWER23L306 With DPD72401 Driver
0 25 50 75 100 125 150
175
200
225
250
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 12 24 36
48
60
72
84
96 108 120POWER (Watts)TORQUEPOWER34N214 With DPD72401 Driver
0 100 200
300
400 500 600
700
800
900 1000
05101520253035404550
SPEED (RPS)
TORQUE (oz-in)0 25
50
75
100 125 150
175
200
225
250POWER (Watts)TORQUEPOWER42N112 With DPD72001 Driver
0 200 400 600
800 1000 1200
1400
1600 1800 2000
05101520253035404550
SPEED (RPS)TORQUE (oz-in)0 20 40 60
80 100 120
140
160 180 200POWER (Watts)TORQUEPOWER 
						

							SECTION 11TROUBLESHOOTING59 SECTION 11 - TROUBLESHOOTING
MY COMPUTER WON’T TALK TO THE SMC40
When using a computer to communicate to the SMC40, you must use Anaheim Automation
communications program such as Hyper Terminal, or a programming language such as BASIC or C.  The
communication parameters must be set up correctly for 8 Data Bits, No Parity Bits, and 1 Stop Bit.  The
Baud Rate can be set up for rates between 50 Hz to 38400 (50, 300, 1200, 2400, 9600, 19200, 38400).
Check the Baud Rate setting on the yellow and black rotary switch on the side of the unit.  This
setting must match to the baud rate you specified (see Table 6).  The Request To Send (RTS) signal is
supported by some software and not others.  Refer to the software manual to see what you need, or just
use trial and error - it will not damage anything.  Generally use RTS on, or the first 8 positions of the dip
switch. Once the communications are set up you finally need to talk to the SMC40.  This is done by
selecting the axis you want to talk to.  Position the Axis Select for the desired axis number for your
unit.  If you chose axis 0 for example, the rotary dip switch would be pointing to 0. To communicate to this
axis, type ID then ¿Enter.
MOTOR IS STALLING
Check the kick current pot setting on the driver, be sure it is set to motors current rating.  Check the wiring
of the motor to the driver.  Different step motors have different performances, some may be able to start
faster than other. If your motor is stalling at start up or during ramping, then lower the base and max speed
and increase the acceleration time (BASE SPEED 500, MAX SPEED 1000, AND ACCEL/ DECEL 10000
are settings that should be good for testing most motors).
THERE IS NO POWER TO THE UNIT
If the fan of the DPD72401 is not running, check the fuse in the fuse tray in the power connector terminal
(use 7 amp fast blow fuse only).  If the fuse continues to blow call factory for assistance.
STATUS LED TURNS OFF WHEN I PLUG INTO THE UNIT
The communication switches on the side of the unit are most likely incorrect. 
						

							SECTION 12ERROR CODES60 SECTION 12 – ERROR CODES
SMC40 (V0.957)
57.   Warning_ErrorQueueOverflow
58.   MotorErrors
59.   XMotor_AutoCorrectionFailure
60.   XMotor_EncoderTrackingOverflow
61.   XMotor_HardLimits
62.   XMotor_JoggingHardLimits
63.   XMotor_ErrorOverflow
64.   YMotor_AutoCorrectionFailure
65.   YMotor_EncoderTrackingOverflow
66.   YMotor_HardLimits
67.   YMotor_JoggingHardLimits
68.   YMotor_ErrorOverflow
69.   ZMotor_AutoCorrectionFailure
70.   ZMotor_EncoderTrackingOverflow
71.   ZMotor_HardLimits
72.   ZMotor_JoggingHardLimits
73.   ZMotor_ErrorOverflow
74.   TerminationErrors
75.   Execution_IndexerNotPresent
76.   Execution_XIndexerMotionInProgress
77.   Execution_YIndexerMotionInProgress
78.   Execution_ZIndexerMotionInProgress
79.   Execution_ReadOnlyRegister
80.   Execution_ReadOnlyBit
81.   Execution_ProgrammableOnlyInstruction
82.   Execution_ProgramAlreadyRunning
83.   Execution_ProgramNotRunning
84.   Execution_ProgramNotPaused
85.   Execution_LabelNotFound
86.   Execution_InstructionNotFound
87.   Execution_BranchNumberValueRange
88.   Execution_GosubLevelOverflow
89.   Execution_BranchReturnWithoutGosub
90.   Execution_NoForLoopInstruction
91.   Execution_NoThumbWheelModule
92.   Execution_BranchSubroutineWithinMESubroutine
93.   Math_DivideByZero
94.   Communications_ReceiveBufferOverflow
95.   Communications_InstructionBufferOverflow
96.   Communications_TransmitBufferOverflow
97.   Communications_BreakCommandReset
98.   Programming_MemoryFull
99.   Programming_CannotDeleteBEInstruction
100.  Programming_CannotInsertBEInstruction
101.  Programming_AssignmentValueRequired
102.  Programming_NeedCLEARConfirmation
103.  Programming_CannotProgramProgrammingCommand
104.  Programming_ExecuteOnlyInstruction
105.  Programming_ExecutionInProgress
106.  Programming_ControllerProgramInstructions
107.  Programming_MemoryAlreadyLocked
108.  Programming_MemoryAlreadyUnlocked
109.  Programming_UnableToUnlockMemory
110.  Programming_MemoryLocked
111.  Programming_AutoStartMemoryLocked
112.  FatalErrors 1.     WarningCodes
2.     Syntax_UnexpectedPrefix
3.     Syntax_CarriageReturnExpected
4.     Syntax_RegisterPrefixExpected
5.     Syntax_RegisterOrNumberExpected
6.     Syntax_BitOrBinaryExpected
7.     Syntax_NumericalChannelExpected
8.     Syntax_BitPrefixExpected
9.     Syntax_TextStringExpected
10.   Syntax_InstructionNumberExpected
11.   Syntax_NegativeNumberLiteralExpected
12.   Syntax_UnknownRegister
13.   Syntax_UnknownBit
14.   Syntax_BinaryLiteralExpected
15.   Syntax_UnknownPatternCharacter
16.   Syntax_NumericalIndexExpected
17.   Syntax_BitPatternOverflow
18.   Syntax_UnexpectedNumeric
19.   Syntax_UnexpectedSymbol
20.   Syntax_UnknownInstruction
21.   Syntax_InvalidLabel
22.   Syntax_LabelExpected
23.   Syntax_InvalidInstructionNumber
24.   Range_InputChannelValue
25.   Range_OutputChannelValue
26.   Range_BidirectionalChannelValue
27.   Range_RegisterIndexValue
28.   Range_BitIndexValue
29.   Range_ProgramTextWindowValue
30.   Range_InstructionNumber
31.   Range_DelayValue
32.   Range_CounterValue
33.   Range_ThumbWheelDigitValue
34.   Range_DecimalPlacesValue
35.   Range_WriteKeyValue
36.   Range_EncoderDelayValue
37.   Range_EncoderPositionValue
38.   Range_AbsolutePositionValue
39.   Range_EncoderRetriesValue
40.   Range_EncoderWindowValue
41.   Range_MotorNumberValue
42.   Range_BaseSpeedValueLimits
43.   Range_MaximumSpeedValueLimits
44.   Range_SpeedLimitValue
45.   Range_AccelDecelValue
46.   Range_JogFastSpeedValueLimits
47.   Range_JogSlowSpeedValueLimits
48.   Range_JogInputValue
49.   Range_HomeTypeValue
50.   Range_MotorPositionValue
51.   Range_InstructionNotFound
52.   Range_OutputInternalRegisterValue
53.   Range_AutoErrorValue
54.   Range_OutputExternalRegisterValue
55.   Range_ResultBinaryValue
56.   Range_ProgramLockKey