Anaheim Stepper DPD72351 Users Guide

							USER’S MANUAL
for the SMC35 Based
DPD72351
Programmable Preset Indexer
ANAHEIM AUTOMATION
910 E. Orangefair Lane
Anaheim, CA 92801
TEL (714) 992-6990
FAX (714) 992-0471
email: [email protected]
http://www.anaheimautomation.com
February 3, 2004#L010027COPYRIGHT 
Copyright 1997 by Anaheim Automation.  All rights reserved.  No part of this
publication may be reproduced, transmitted, transcribed, stored in a retrieval
system, or translated into any language, in any form or by any means without the
prior written permission of Anaheim Automation, 910 E. Orangefair Lane, Anaheim,
CA 92801. 
DISCLAIMER
Though every effort has been made to supply complete and accurate information in
this manual, the contents are subject to change without notice or obligation to
inform the buyer. In no event will Anaheim Automation be liable for direct, indirect,
special, incidental, or consequential damages arising out of the use or inability to
use the product or documentation.  
Anaheim Automation’s general policy does not recommend the use of its’ products
in life support applications wherein a failure or malfunction of the product maydirectly threaten life or injury.  Per Anaheim Automation’s Terms and Conditions,
the user of Anaheim Automation products in life support applications assumes all
risks of such use and indemnifies Anaheim Automation against all damages.
LIMITED WARRANTY
All Anaheim Automation products are warranted against defects in workmanship,
materials and construction, when used under Normal Operating Conditions and
when used in accordance with specifications.  This warranty will be in effect for a
period of twelve months from the date of purchase or eighteen months from the date
of manufacture, whichever comes first.  Warranty provisions may be voided if
products are subjected to physical modifications, damage, abuse, or misuse.
Anaheim Automation will repair or replace at its’ option, any product which has
been found to be defective and is within the warranty period, provided that the item
is shipped freight prepaid, with previous authorization (RMA#) to Anaheim
Automations plant in Anaheim, California. 
TECHNICAL SUPPORT
If you should require technical support or if you have problems using any of the
equipment covered by this manual, please read the manual completely to see if it
will answer the questions you have. Be sure to look in the TROUBLESHOOTING
section located near the back of this manual.  If you need assistance beyond what
this manual can provide, contact your Local Distributor where you purchased the
unit, or contact the factory direct.
TRADEMARKS
Control Link and Driver Pack are registered trademarks of Anaheim Automation.
IBM PC is a registered trademark of International Business Machines, Inc. 
						

							TABLE OF CONTENTS
Page 
Introduction.............................................1
Description ......................................1
Ordering Information ...............................2
Speed Considerations ..............................2
Specifications ...........................................3
Communication Guidelines ................................4
Talking to the Indexer ..............................4
RS232 ..........................................4
RS422 ..........................................5
DTE vs DCE .....................................5
Handshaking Signals ..............................5
A Manner of Speaking ..............................6
RTS Defined .....................................6
CTS Defined .....................................6
SMC35TRM Software ....................................7
Installation..............................................9
Connector Listing .................................9
Jumper Selections ................................9
Handheld Terminal ................................9
Dimension Drawings ..............................12
Axis Selection ...................................13
Daisychaining ...................................13
Indexer Terminal Block ............................14
Limit Switch Inputs ...............................15
Home Type 0 Configuration .......................15
Home Type 1 Configuration........................15
Programmable Inputs and Outputs ...................15
Encoder Inputs ..................................16
Jog Inputs ......................................16
Hard Limits .....................................17
Baud Rate ......................................17
Programming ..........................................18
SMC35TRM Software .............................18
Commands .....................................18
Internally Stored Programs .........................18
Programmable Reset .............................18
Command Summary ....................................19
PageCommand Dictionary ....................................23
Sample Programs.......................................32
BLD72 Driver and Power Supply
Specifications ...................................33
Jumpers.......................................34
Wiring.........................................36
Troubleshooting the BLD72 Driver . . . . . . . . . . . . . . .. . . . . 37
Standard Motor Torque Speed Curves . . . . . . . . . . . . . . . . . . . . . .. 38
Enhanced Motor Torque Speed Curves . . . . . . . . . . . . . . . . . . . . . .40
Troubleshooting the Indexer...............................42
Glossary .............................................43 
						

							12INTRODUCTION
The DPD72351 is a single-axis programmable indexer/ driver/ power supply
package based on the SMC35 chip.  All the necessary motion parameters can be
programmed, including the maximum speed the motor will turn, the minimum or
base speed, the acceleration rate, the deceleration rate, as well as many other
parameters.  Encoder feedback can be used to verify and auto-correct the motor
position while under computer control. Eight outputs can be turned on and eight
inputs can be read per axis.  Several units can be daisychained together to provide
up to 32 axes of control. 
The DPD72351 can be controlled directly by a computer or can be programmed and
then be set up to autostart as a standalone controller (without the computer).
These two modes of operation are known as Direct Mode and Stored Program
Mode.  The DPD72351 can store a program 250 bytes long in its memory. This
might not seem like a lot of memory, but it is usually more than enough. Since a
program will not be lost after the unit is turned off, the user can write the program
and then have the DPD72351 autostart that program on power-up.
This manual is intended to help the user apply the DPD72351 in motion control
applications.  Familiarity with computers, programmable logic controllers (PLCs),
or terminals would be helpful, but is not essential. The user is expected to select
the step motor and other machine requirements.  Typical users range from
programmers to machine designers, and this manual is written intending to be
straightforward and yet technical enough for complex designs.
DESCRIPTION
Generally step motor controllers are open-loop systems, meaning that no
information is sent back to the controller from the motor to verify the number of
steps taken.  A step motor is essentially a digital device. If the step motor driver
receives 10 clock pulses,  the motor will move 10 steps.  Sometimes a closed-loop
system is needed to verify that the motor indeed moved 10 steps. The DPD72351
will accept encoder inputs to form the closed-loop system.  The encoder command
can be used in conjunction with a computer to verify the position, and the computer
can make any corrections that might be necessary.
The DPD72351 is designed to communicate over a RS232C or RS422 bi-directional
serial data bus.  The RS422 serial bus is better suited for industrial environment
noise problems. 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 need to send
your RS232C signal beyond 50 feet, Anaheim Automation offers a RS232C- to -
RS422 Bidirectional Data Converter (Model DC1709).
The DPD72351 provides independent programming of acceleration, deceleration,
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
DPD72351 automatically determines the proper direction to go and the number ofsteps to take. The relative positioning will move a number of steps in the direction
that the user defines.  The DPD72351 has a high level command set which
includes: looping, conditional statements, time delays, power down motor, encoder
feedback, and maskable I/O.  
Hard, Soft, and Home Limit Switch inputs are provided for each axis. These features
are generally required in most machine control designs. Eight testable Inputs and
eight programmable Outputs are provided per axis. These I/O may be used for
monitoring and controlling machine operation and/or interaxis coordination.  TheseI/O are accessible independent of the busy state of the axis controls.  The 8 inputs
are TTL/CMOS compatible. The 8 outputs are current sinking, open collector
darlingtons.
The DPD72351 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. 
SMC35TRM Software for Windows 3.1 or Windows 95 is provided with a  purchaseof a DPD72351 the unit.  This software allows the user to write and change
programs that are to be stored in the DPD72351 for autostart use.   The software
also allows the user to save the programs onto a computer disk, and retrieve them
when needed. 
ORDERING INFORMATION
The table below lists a variety of products available from Anaheim Automation.
These products include those covered by this manual, along with supporting cables
and devices.  Anaheim Automation is continually adding new products to our line,
so please consult your nearest Authorized Anaheim Automation Distributor or
Representative for information on the latest releases.
   PARTDESCRIPTION
NUMBER
PCL351SINGLE-AXIS, PROGRAMMABLE INDEXER
PCL352DUAL-AXIS, PROGRAMABLE INDEXER
PCL353TRIPLE-AXIS, PROGRAMABLE INDEXER
DPD72351SINGLE-AXIS DRIVER PACK WITH PCL351 SERIES PRO-
GRAMMABLE INDEXER AND 300 WATT POWER SUPPLY
DPF72352DUAL-AXIS DRIVER PACK WITH PCL352 SERIES PRO-
GRAMMABLE INDEXER AND 600 WATT POWER SUPPLY 
						

							34INTEGRATED CIRCUIT
PART NUMBERSPEED RANGE
SMC3550 to 20,000 sps
SMC3635 to 10,000 sps
SMC3735 to 5,000 sps
SMC3835 to 2,500 sps
TABLE 2: SMC35 VARIATIONSDPFEN353TRIPLE-AXIS ENHANCED DRIVER PACK WITH PCL353
SERIES PROGRAMMABLE INDEXER AND 500 WATT
POWER SUPPLY
AA26806 FOOT SERIAL CABLE WITH MALE AND FEMALE
CONNECTOR
AA268120 PIN RIBBON CABLE CONNECTOR, 24 INCHES
AA222020 PIN RIBBON CABLE CONNEOR, 24 INCHES, FLYING
LEADS
AA2M2020 PIN BREAKOUT TERMINAL BOARD
TT1R2-1HANDHELD TERMINAL
TABLE 1: ORDERING INFORMATION
SPEED CONSIDERATIONS
The SMC35 Integrated Circuit (I.C.) was created to handle speeds from 50 steps
per second (sps) to 20,000 sps.  When maximum speeds of 10,000 sps or less are
anticipated, a few other I.C.’s are available that offer increased smoothness at these
speeds (see Table Below).  Contact your local distributor for information regarding
the appropriate part number.SPECIFICATIONS
Power Requirements105 - 125VAC Standard
210 - 250VAC X250 Version
Fuse @ 5 AMP Fast Blow
GENERAL:
Operating Temperature0 to 60 degree C
Control InputsTTL-CMOS Compatible
Pulse Output RangeDPD72351: 50 to 20,000 pps
pps (pulses per second)DPD72361: 32 to 10,000 pps
DPD72371: 32 to  5,000 pps
DPD72381: 32 to  2,500 pps
Inputs (TTL-CMOS)              Logic 0: 0 to 0.8 VDC
         Logic 1: 3.5 to 5.0 VDC
Outputs (CLK, DIR, PWR):TTL-CMOS compatible
  Logic 0:0 to 0.32 VDC, 4 mA
  Logic 1:4.3 to 5.1 VDC, 4 mA
RS422 Input
  Logic 0-2 to -10 VDC, 1.5 mA
  Logic 12 to 10 VDC, -2.5 mA
  sensitivity200 mV
RS422 Output:
  Voltage Output High: 2.5 VDC min, 20 mA
  Voltage Output Low: 0.5 VDC max, 20 mA
RS232 Input
   Logic 0     2 to 10 VDC, 1.5 mA
   Logic 1-2 to -10 VDC, -2.5 mA
   sensitivity200 mV
RS232 Output
   Logic 00.5 VDC max, 20 mA
   Logic 12.5 VDC min, 20 mA
EncoderQuadrature only
   InputsTTL-CMOS Compatible
   Power5 VDC @ 100 ma Max.
Baud Rate:50 to 9600 BAUD
Data Format:     Half-Duplex, 1 start bit, 8 data bits, no parity, 1 stop bit 
Outputs (8 programmable I/O):   Open Collector Type
Maximum voltage:40 VDC
Current sink:                 500 ma (total, all on)
NOTE:  For inductive loads, customers must connect the clamp input for fly-back
protection. 
						

							56PIN #FUNCTIONRS232 FUNCTION
2RD RD (RECEIVE DATA)
3TD TD (TRANSMIT DATA)
50VDC SG (SIGNAL GROUND)
7RTS RTS (REQ TO SEND)
8CTS CTS (CLEAR TO SEND)
TABLE 3: RS232C 9 PIN CONNECTION (COMPUTER OR INDEXER)COMMUNICATION GUIDELINES
COMMUNICATING WITH THE INDEXER
Anaheim Automation programmable indexers communicate by using the RS232C
or RS422 standards.  Most computers contain at least one RS232 serial port.
Some industrial computers have a RS422 serial port.  To communicate with the
DPD72351, use connector P1 in Figure 1.  P1 is used for either RS232 or RS422,
and is set by sliding the two switches to the appropriate direction (see below),   P1
is a DB9 Female.  To communicate with subsequent axes, use P2, the RS422
output port.  P2 is a DB9 Male, and is always set for RS422.  The switches affect
only the Input Port P1.  The differences between the two types of communications
are discussed below.
RS232
This 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.  For the
4 signals, RD, TD, CTS and RTS to be transmitted. RS232C requires 5 wires.  The
signal line maintains levels of +5VDC to +15VDC (LOW LOGIC INPUT) and -5VDC
to -15VDC (HIGH LOGIC INPUT).  The receiver for the RS232 looks for a voltage
potential of +3 to +25 volts for a logic LOW, and -3 to -25 volts for a logic HIGH.  For
a valid logic level, the voltage must be +/-3 volts.  RS232 works well at 9,600 baud
over distances of 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 control wiring separated from motor cable/wiring.
                                    
   PIN #FUNCTIONRS232 FUNCTION
1CG CG (CHASSIS GROUND)
2TD TD (TRANSMIT DATA)
3RD RD (RECEIVE DATA)
4RTS RTS (REQ TO SEND)
5CTS CTS (CLEAR TO SEND)
70VDC SG (SIGNAL GROUND)
TABLE 4: RS232C 25 PIN CONNECTION (COMPUTER PORT)
NOTE:  The Autostart function will not be activated while the switches are
set to the RS232C mode.  Place the switches to RS422 when autostarting
the unit.
RS422
To talk to the DPD72351 in RS422 set the switches to RS422, and use P1.  The
RS422 serial communication standard is differential.  This means that from each
signal, there are two wires.  For the 4 signals transmitted there needs to be 9 wires
including the ground reference.  The signal line maintains a voltage level of up to
+12 volts on either line.  The polarity of the line switches to obtain the logic levels.
For example, if RD+ is more positive than RD- then it is a logic HIGH.  If RD- is
more positive than RD+, then it is a logic LOW.  For a valid logic level, the voltage
difference between RD+ and RD- needs to be greater than 200 millivolts.  RS422
is unsusceptible to noise due to the differential lines. We normally specify a
maximum of 9600 Baud at up to 4000 feet. 
						

							78 PIN #FUNCTIONRS422 FUNCTION
1SG SG (SIGNAL GROUND)
2CTS+ CTS (CLEAR TO SEND)
3CTS- CTS
4TD+ TD (TRANSMIT DATA)
5TD- TD
6RTS+ RTS (REQ TO SEND)
7RTS- RTS
8RD+ RD (RECEIVE DATA)
9RD- RD
TABLE 5: RS422 9 PIN CONNECTION
DTE vs DCE                                   
There are two types of devices defined.  The first is called DTE (Data Terminal
Equipment).  Examples of this would be a terminal, or an IBM Compatible
Computer.  The second type of device is a DCE (Data Communication Equipment).
Examples of this would be a modem or an Anaheim Automation Indexer such as
the DPD72351.  DTEs have input pins of one type corresponding to output pins on
the DCEs.
NOTE:THE SIGNAL NAMES ARE FROM THE POINT OF VIEW OF THE DTE
(COMPUTER).  FOR EXAMPLE: PIN 3 IS CALLED TD (TRANSMIT
DATA) BY BOTH SIDES, EVEN THOUGH THE DTE (COMPUTER) SENDS
IT AND THE DCE (DPD72351) RECEIVES IT.
With a DB9, a DTE (computer) transmits on pin 3 and receives on pin 2.
With a DB9, a DCE (DPD72351) transmits on pin 2 and receives on pin 3.HANDSHAKING SIGNALS
There are two handshaking signals that we are concerned with; they are RTS and
CTS.  Some devices use these handshaking signals, and others do not.  It is
important to know if your device supports certain handshake signals.  Anaheim
Automation Indexers support both of these signals.
NAME9 PINDIRECTIONFUNCTION
TD3 DTE TO DCETRANSMITTED DATA
RD2 DCE TO DTERECEIVED DATA
RTS7 DTE TO DCEREQ TO SEND (DTE READY)
CTS8 DCE TO DTECLEAR TO SEND (DCE READY)
TABLE 6: PIN DESCRIPTION FOR RS232 WITH A DB9
THE COMPUTER IS THE DTE and THE INDEXER IS THE DCE
A MANNER OF SPEAKING
The communication signals supported by Anaheim Automation Indexers are:
RECEIVE, TRANSMIT, CLEAR TO SEND (BUSY), AND REQUEST TO SEND.
The method in which the Computer and the Indexer communicate is as follows:
When the computer wants to send some information, it looks at the CTS (Clear ToSend) line.  This will inform the computer if the Indexer is ready to receive
information.  If a logic LOW is read (meaning it is clear to send), the computer will
send information on pin 3, in which the Indexer will receive on pin 3.  
When the Indexer receives data that requires some computational time, it will pull
the CTS HIGH meaning it is not clear to send data.
When the Indexer is ready to send something to the Computer it looks at the RTSsignal which will inform the Indexer if the Computer is busy.  If the RTS is low then
the Indexer will send information on pin 2, which will be received by the Computer
on pin 2 also.
RTS DEFINED
On the DPD72351, there is an option to either enable, or disable the RTS.  If RTSis enabled, then the above description applies.  If RTS is disabled, then when the
DPD72351 wants to send information to the Computer, it will send it without looking
at the RTS line.  This is used when the computer does not support the RTS line.
CTS DEFINED
The CTS line must always be supported.  No information should be sent to anyindexer unless the CTS line is low.  Otherwise the data sent may be lost, and the
indexer could possibly stop communicating. 
						

							910PIN #FUNCTIONRS232 FUNCTION
1CG CG (CHASSIS GROUND)
2TD TD (TRANSMIT DATA)
3RD RD (RECEIVE DATA)
4RTS RTS (REQ TO SEND)
5CTS CTS (CLEAR TO SEND)
TABLE 7: RS232C 25 PIN CONNECTION (COMPUTER PORT)
NOTE:  THE SIGNAL NAMES ONLY MAKE SENSE FROM THE POINT OF VIEW
OF THE DTE.  FOR EXAMPLE: PIN 3 IS CALLED TD (TRANSMIT DATA) BY
BOTH SIDES, EVEN THOUGH THE DTE SENDS IT AND THE DCE RECEIVES IT.HOOKUP INFORMATION  
This section applies to all models covered by this manual.  The DPD72351 Series
Indexer has several connectors that can be used for communication, and several
Detachable Terminal Blocks that can be used to integrate switches, sensors,
encoders, and other items to the Indexer.
LIST OF CONNECTORS
There are several connectors in which the user must become familiar with.  Theseconnectors include communication to the indexer, limit switch terminal block, and
encoder terminal block.
FUNCTIONCONN #TABLETYPE
 RS422 Input      P1Table 3    DB-9 female
 
 RS232C Input    P1Table 1 & 2DB-9 female
 RS422 Output   P2---------- DB-9 male   
 
 Encoder Input    J4Table 114 pin T.B.    
 Limit Switches  J7Table 9  20 pin T.B.   
 
 Inputs/Outputs  J9Table 1020 pin header 
 
 HandheldJ1---------  RJ11 Socket   
Terminal 
TABLE 9: LIST OF CONNECTORS FOR THE INDEXER
Refer to Figure 2 for location of connectors.      
 JUMPERJUMPERFUNCTION
SETTING
 JP1 1-2 SELECT AXIS
ADDRESS NUMBERS
G - V
 2-3  SELECT AXIS
ADDRESS NUMBERS 0
- F    
						

							1112FIGURE 2: DPD72351 SERIES INDEXER PHYSICAL LOCATIONS HANDHELD TERMINALThe Indexer Terminal Block connector contains three INPUTS (#0-#2), three
The Handheld Terminal is a RS-232 Serial communications device, operating onOUTPUTS (#0-#2), Limit Switch inputs, and Jog inputs.  Table 9 shows the pin
+5Vdc. To order this unit, use part number TT1R2-1.connections of the Indexers Detachable Terminal Block.
PIN #DESCRIPTIONPINDESCRIPTIONPIN #FUNCTION   COMMENTS  
#
 1 +5 VDC input       4Receive Data          
 
 2 Request to Send  5Transmit Data         
 
 3 Clear to Send      60 VDC Return
 (Common)
TABLE 11:  Standard pinout for TT1R2-1
AXIS SELECTION
Each DPD72351 can be set to 1 of 32 possible axis numbers.  This  can be
changed by turning the axis rotary switch, SW3 to the appropriate position.  For
axes greater than F, internal jumpers, JP11, 15 & 16 must be changed.  For axes
0 through F, the  jumper should be across position 2 and 3.  For axes G through
V, the jumper should be across position 1 and 2.  Refer to Figure 1 on page 9 for
the placement of the switch and jumper.
INDEXER TERMINAL BLOCK       
1HOME / (DIRECTION OUTPUT) **ACTIVE LOW
2HOMEACTIVE LOW      
3SOFT / (CLOCK OUTPUT) **ACTIVE LOW      
4SOFT               ACTIVE LOW  
5HARD +         ACTIVE LOW      
6HARD -          ACTIVE LOW      
7INPUT 2         *HIGH = 4       
8INPUT 1         *HIGH = 2       
9INPUT 0         *HIGH = 1       
10FAST            ACTIVE LOW   
11JOG +               ACTIVE LOW   
12JOG -                ACTIVE LOW    
13OUT 0             *HIGH = 1       
14OUT 1             *HIGH = 2      
15OUT 2            *HIGH = 4      
16O VDC            REFERENCE
TABLE 9:  INDEXER TERMINAL BLOCK CONNECTOR
*BINARY WEIGHT   
**JUMPER SELECTABLE
DAISYCHAINING
The output of one DPD72351 module can be connected to the input of a
subsequent module, making it possible to daisychain up to 32 axes of DPD72351
controllers.  The DPD72351 can be manually reset by holding the RTS line at 0Vdc
for approximately 0.5 seconds.  The RS422 output port, P2 is connected to the
subsequent models RS422 port, P1.  A standard 9 pin cable (AA9MFC-9) can be
used, and is available from Anaheim Automation.  This can also be done bysending a break signal to the unit.  In many communication programs, this can
be done by the HOME key. 
						

							1314FIGURE 5: HOME TYPE 0 SETUP
FIGURE 6: HOME TYPE 1 SETUP LIMIT SWITCH INPUTS                                   PROGRAMMABLE INPUTS AND OUTPUTS
The Limit Switch Inputs are internally pulled up by a resistor making them normallyEight general purpose inputs and outputs are provided per axis.  The inputs may be
+5 volts.  To activate the input, the pin must be grounded to pin 16  (0 VDC) on theused to initiate a machine cycle, for inter-axis coordination (in stored program
terminal block.  For an explanation of Home, Soft, and Hard Limit Switches, see themode), for operator intervention, for sensing a machine condition such as out of
description of the Home command in the Command Dictionary and the Glossary.stock, or to wait for temperature to be reached.  Outputs may be used to operate
Figure 5 is a hookup example for a system using Soft \Limit and Home Limitcoolant valves, air cylinders, relays, or, with the right interfacing, any electricallySwitches.             controlled device. Pin assignments are listed in Table 10.
                                                      
HOME TYPE 0 CONFIGURATION             
Using Home Type 0 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.  These switches are not directional, meaning that they will work
in either direction.  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 TYPE 1 CONFIGURATION          provide adequate fly-back protection.  Input wiring should be kept separateThis type of homing differs from Home Type 0 in that only one Limit Switch is          from step motor wiring.
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.PIN #   FUNCTIONPIN #FUNCTION        
1  +5VDC        11    OUTPUT #4       
2  CLAMP INPUT 12     INPUT #4        
3  OUTPUT #0    13     OUTPUT #5    
4  INPUT #0     14     INPUT #5        
5  OUTPUT #1   15     OUTPUT #6    
6  INPUT #1    16     INPUT #6        
7  OUTPUT #217     OUTPUT #7    
8  INPUT #2    18     INPUT #7        
9  OUTPUT #3 19    0VDC REFERENCE  
10INPUT #3      20    0VDC REFERENCE  
TABLE 10:  INPUT/OUTPUT CONNECTOR
FIGURE 7: I/O HEADER Note: For inductive loads, customers must connect the clamp input in order to   
The 8 inputs and 8 outputs are available on a 20 pin male header type connector
(P5).  The first 3 inputs and outputs are also brought out to the terminal block (P9,
10 & 11) for easy access, see Table 9.  The inputs are TTL compatible.  Since the
inputs have on-board 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 sourcecurrent is approximately 5 mA. 
						

							1516These outputs can drive all types of common peripheral power loads, includingNote: Encoder and Jog input wiring should be kept separate from step motor      
lamps, relays, solenoids, LEDs, printer heads, and heaters.  For inductive loads,         wiring.
it will be necessary to connect the Clamp input as indicated in Figure 6.  The
outputs can also be used as drivers for higher power loads requiring discrete powerOnce a +Jog or -Jog function has been performed, the  direction register will retain
semiconductors. The outputs are current sinking, open collector darlingtons. Theythe last direction of movement; that is, a subsequent Go  command will be in the
are capable of sinking up to 150 mA per output but not more than 500 mA totalsame direction as the last jog command.
when all 8 outputs are on, with voltages up to 40 VDC.
ENCODER INPUTSWhen a Hard Limit switch is encountered, the motion will stop.  The position
A Rotary Encoder is a device that measures rotation of a shaft. In the case of acounter will also cease counting.  Hard Limits are intended as an emergency stop
step motor shaft, the encoder may also be mounted on the load for a true position.for your system.  It should not be used to do any indexing type functions; use
The encoder sends signals in a format called quadrature to the controller, which willthe limit switches for this.
take this data and use it to verify the motor position.  The encoder has four wires:
Power, Ground, Channel A, and Channel B.  These lines should be connected toBAUD RATE
the DPD72351 via Terminal Block P3.  The encoder can be used with theThe Baud Rate is the transfer rate of the serial communications; how fast the ASCII
DPD72351 to form a closed-loop system when it is used with a computer.  TheData is sent over the transfer lines.  The number specifies the number of bits that
stored program mode does not allow the use of the encoder.  See the CP functionare sent per second.  With a baud rate of 9600, 9600 bits of information are sent
on page 14 for more information.in one second.  For standard communications (like the DPD72351), there is one
 PIN FUNCTION     COMMENTS      
  1    +5 VDC                   ENCODER POWER   
  2    CHANNEL A INPUT  ACTIVE LOW      
  3    CHANNEL B INPUT  ACTIVE LOW      
  4    GROUND (0 VDC)  ENCODER GROUND  
TABLE 11:  ENCODER TERMINAL BLOCK
                                                 
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 Detachable Terminal Block (P4).  To jog a motor, it is
necessary to ground the Jog input on that axis for the direction (+ or -) desired.  For
Fast Jog, both the Fast and Jog command for the appropriate direction must be low
at the same time. The first closure of Jog causes just one step.  In order to get a
continuous stream of pulses, the Jog input must be held low.  The actual Jog rates
can be programmed.  Fast Jog is simply the Base rate.  The Jog Factor command
is used to determine the slow jog rate by dividing the Base speed by the jog factor.
The position register will keep track of the number of steps that are taken during
jogging.
EXAMPLE:  If you have a Base speed of 400 pulses per second and a Jog factor
of 5, then the Slow Jog Speed will be:
Jog Speed = 400/5 =  80 pps
Fast Jog = 400 ppsHARD LIMITS
start bit, one stop bit, and 8 data bits.  This means that for every ASCII Character
10 bits are sent, so for the 9600 Baud Rate, 960 ASCII Characters will be sent
every second. The Baud Rate is selected by adjusting the Baud Rate Rotary Switch(SW4 in Figure 1).  This switch not only determines the baud rate, but also sets the
parameter RTS, for communication with your computer.  Table 3.8 shows the
position of the switch for the corresponding baud rates.  If you are not sure if your
computer uses RTS, the trial by error method works best, or you can refer to your
software manual.  Most IBM PC compatibles will work with either RTS ON or OFF.
     
BAUD SWITCH POSITION   
RATE 
    RTS ONRTS OFF 
75 08
1501 9
300  2A
600 3B
1200 4C
2400 5D
4800 6E
 9600 7F
TABLE 12:  BAUD RATE SWITCH