Anaheim Stepper DPD75601 Users Guide

							September 2012 L0101551
DPD75601
Programmable Driver Pack
User’s Guide
910 East Orangefair Lane, Anaheim, CA 92801
e-mail: [email protected](714) 992-6990  fax: (714) 992-0471
website: www.anaheimautomation.com
ANAHEIM AUTOMATION 
						

							September 2012 L0101552
Table of Contents
Section 1: Introduction.................................................................................................................................3
Description.....................................................................................................................................................3
Electrical Specifi cations..............................................................................................................................4
Ordering Information.......................................................................................................................................4
Dimensions/Switch Locations.....................................................................................................................5
Wiring Diagrams.........................................................................................................................................5
Terminal Descriptions - Driver.........................................................................................................................6
Terminal Descriptions - Controller..............................................................................................................7
Connector Descriptions - Controller.................................................................................................................7
Slide Switch Descriptions - Controller.............................................................................................................7
Section 2: Driver Functions..........................................................................................................................8
Adjusting Kick Current................................................................................................................................8
Jumper Functions/Locations.......................................................................................................................8
Fault Protection..........................................................................................................................................9
Section 3: Controller Functions..................................................................................................................10
Methods of Communication.......................................................................................................................10
Baud Rate................................................................................................................................................10
RS232 Protocol - Controller SW1 in RS232 Position........................................................................................10
RS485 Protocol - Controller SW1 in RS485 Position....................................................................................10
Axis Selection...........................................................................................................................................11
Controller Status LED..................................................................................................................................11
Technical Support.........................................................................................................................................11
Section 4: SMC60WIN Software.................................................................................................................16
File Menu..................................................................................................................................................17
Setup Menu..............................................................................................................................................17
Setup - Axis Menu.....................................................................................................................................17
Program Menu............................................................................................................................................18
Program - Autostart Program Menu............................................................................................................18
Edit Menu..................................................................................................................................................18
Help Menu................................................................................................................................................19
“The Unit is Connected” / “The Unit is NOT Connected”..................................................................................19
Toolbar......................................................................................................................................................20
Tab Sheets................................................................................................................................................20
Add/Change/Insert Commands................................................................................................................25
Calculator..................................................................................................................................................30
Section 5: Direct Talk Mode....................................................................................................................31
Section 6: Troubleshooting.....................................................................................................................41
Errors Codes.............................................................................................................................................42
Section 7: Sample Programs.....................................................................................................................43
Appendix 1: ASCII Table for Direct Mode...................................................................................................48
Appendix 1: ASCII Table for Direct Mode...................................................................................................48
Copyright .................................................................................................................................................49 
						

							September 2012 L0101553
Introduction
The DPD75601 is a single-axis 7A unipolar step motor driver/controller containing 2 Kbytes of 
nonvolatile stored programming space, quadrature encoder feedback, and a 300W transformer, 
all enclosed in a package.  It provides fl exible, independent control of unipolar stepper motors 
with a current range from 1.0 to 7.0 amps in 1.8 or 0.9 degree increments from a computer, or 
any machine controller with a serial port.  It is also capable of standalone operation, making it an 
embedded machine controller.  The easy to use Windows software, SMC60WIN, can be used to 
directly control motion and to program the DPD75601.  The DPD75601 also has the ability for 
real time functions.
The DPD75601 has 40 commands, which are easy-to-remember for direct movement of the 
stepper motor.  The DPD75601 communicates via either an RS232 or RS485 bidirectional serial 
data bus.  Up to 99 DPD75601’s can be networked from one communications port on your PC or 
PLC, utilizing the RS485 communications protocol.  Special functions of the controller include 8 
programmable open collector outputs and 6 TTL, CMOS and 24V compatible inputs, a quadrature 
encoder input with the ability to autocorrect, an analog input to control either maximum speed or 
absolute position, and a thumbwheel input for indexing a motor.  The DPD75601 can be powered 
from 90-265 VAC, 50/60Hz.
Section 1:
Description
The driver in the DPD75601 (BLD75) is a step motor driver that can drive motors rated from 1.0 
to 7.0 amps/phase.  It can handle 6-lead and 8-lead motors in a unipolar fashion.  The DPD75601 
features a unipolar bilevel (or dual voltage) drive technique with short circuit, open circuit, over 
voltage, under voltage and over temperature detection.  The DPD75601 offers half-step or full-
step operation to move the motor 0.9 or 1.8 degrees per step.
The controller in the DPD75601 (PCL601) provides independent programming of acceleration/
deceleration, base speed (start up speed), max speed (running speed), jog speed, and the num-
ber of steps to be taken in both relative and absolute positioning modes.  On absolute positioning 
moves, the DPD75601 also has specifi c functions such as encoder feedback, autocorrection, 
index-on-the-fl y and output-on-the-fl y.  An analog input can be used to set either the maximum 
speed or go to an absolute position based between the upper and lower programmable limits.  A 
seven decade thumbwheel switch can be read for relative indexing.  The DPD75601 also has a 
high level programming command set that includes: branching, looping, conditional statements, 
time delays, text strings, and I/O which the user can use in the programming mode to fully control 
all machine functionality.  A home input, a set of bidirectional hard and soft limit switch inputs and 
bidirectional jog inputs are provided for each axis.  These features are generally required in most 
machine control designs.  6 testable TTL, CMOS and 24V compatible inputs and 8 programmable 
open-collector outputs are provided per axis.  The I/O are accessible independent of the busy state 
of the axis controls.  The DPD75601 has a built-in programmable reset circuit.  Reset is automatic 
on power-up, or by pressing the external reset button.  A CD, provided when you purchase the 
unit, contains this user’s manual, along with the SMC60WIN software and DPD75601 program 
examples.  The software allows you to write and change programs that are to be stored in the 
DPD75601 for autostart use, and also upload the program that is stored in the DPD75601 itself 
for editing and viewing.  The software also allows you to save the programs onto your computer 
hard drive, and easily retrieve them when needed. 
						

							September 2012 L0101554
Electrical Specifi cations
Power Requirements:
90-265 VAC 50/60Hz
Operating Temperature:
0 to 60° C
Pulse Output Range:
1 to 50,000 Hz
10ɥS negative going pulse width
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog Input 1: 0 to 5VDC
Excitation Mode Select:
Pulled up to +5VDC through 10K
Logic “1” (open) - Half Step
Logic “0” - 2 Phase Full Step
Fault Reset:
Pulled up to +5VDC through 10K
Logic “1” (open) - Fault Detection Enabled
Logic “0” - Resets a fault condition (must be 
low for at least 100mS)
Output Current Rating:
10 A/phase maximum running
7.0 A/phase maximum standstill
Baud Rate:
38400 Baud, Fixed
Data Format:
Half-Duplex, 1 start bit, 8 data bits,
no parity, 1 stop bit
Outputs (8 programmable):
Open Drain Type
40V, 100mA
+5VDC Output, 50mA
Output 1 active low time for output 
on the fl y:
50uS
Note: For inductive loads, customers must 
connect a clamping diode to protect from 
fl yback voltage spikes.
Ordering Information
The table below lists a variety of products available from Anaheim Automation, Inc.  These prod-
ucts include those covered by this manual, analog with supporting cables and devices.  We are 
continually adding new products to our line, so please consult Anaheim Automation, Inc. or its 
representatives for information on the latest releases.
Part Number Description
DPD75601 Controller/Drive Pack - Features a 7 amp unipolar drive and power supply.
DPN10601 Controller/Drive Pack - Features a 10 amp bipolar drive and power supply. 
485SD9TB RS232 to RS485 converter.
TWS7 Seven position thumbwheel switch compatible with any SMC60 series controller.
AA9MFC-6 6 foot straight through serial cable with one DB9 male and one DB9 female connector. 
						

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Dimensions/Switch Locations
Wiring Diagrams 
						

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Position Description - Motor Connection
1 Motor, Phase 1
2 Motor, Phase 3
3 Motor, Common 1 & 3
4 Fault Reset
5 Direction (CCW) (internal connection to controllers direction output)
6 Clock (CW) (internal connection to controllers clock output)
7 0VDC (internal connection to controllers 0VDC)
8 Half-Step/Full Step
9 On/Off (internal connection to controllers on/off output)
10 Fault Out
11 Motor, Common 2 & 4
12 Motor, Phase 2
13 Motor, Phase 4
Terminal Descriptions - Power
The DPD75601 is powered by an AC line voltages ranging from 90-265VAC.  The following fi gure 
shows the various line voltages and the wiring for the power connection terminal block.
Terminal Descriptions - Driver 
						

							September 2012 L0101557
Connector Descriptions - Controller
Slide Switch Descriptions - Controller
Position Description - Encoder
1 A(-)
2 B(+)
3IGND - This is an isolated ground for 
RS485 only
Position Description - Limit Switch Inputs
1 +5VDC supply for encoder
2 A channel for encoder
3 B channel for encoder
4 Ground return for encoder
Position Description - Limit Switch Inputs
1 Home Limit
2 Jog + 
3 Jog - 
4 Fast Jog
5 Hard Limit +
6 Hard Limit - 
7 Soft Limit +
8 Soft Limit - 
9 Ground
Position Description - Motor Connection
1 Input 1 - Analog Input
2 Input 2 - Index on the fl y input
3 Input 3 
4 Input 4
5 Input 5 - SW2 in position IN5/6
6 Input 6 - SW2 in position IN5/6
7 Ground
Position Description - Outputs
1 Output 1 - Output on the fl y output
2 Output 2
3 Output 3
4 Output 4
5 Output 5
6 Output 6
7 Output 7
8 Output 8 - Encoder Retries Error Output
Switch Description
P1 This connector is for the RS-232 communication and is labeled RS-232.
J1 This connector is for the thumbwheel module and is labeled TWS.
Switch Description
SW1 This switch is used to select either RS232 or RS485.
SW2 This switch is used to select either the thumbwheel or inputs 5 and 6.
Terminal Descriptions - Controller 
						

							September 2012 L0101558
Adjusting Kick Current
By following the silkscreen instructions on the cover, use a small screwdriver to adjust the po-
tentiometer.  Line up the potentiometer’s arrow to the number corresponding to the motors rated 
current (amps/phase).
Section 2:
Jumper Functions/Locations
Function JP1 JP2 JP3
Negative Going Clocks (This Model) 1-2 x x
Positive Going Clocks 2-3 x x
Terminal 5 = CCW x 1-2 x
Terminal 5 = Direction (This Model) x 2-3 x
Low Voltage Fault Detection Enabled x x 1-2
Low Voltage Fault Detection Disabled x x 2-3
Standard Product 1-2 2-3 2-3 
						

							September 2012 L0101559
Fault Protection
There are fi ve types of fault detection.  When a fault is detected, the driver turns off the motor 
current, the red fault LED indicates which type of fault occurred and the Fault Output pin goes 
low.  This output is able to stand off 50V and sink 50mA.  Refer to the table below for LED fault 
indications.
# of LED Blinks Fault Protection
1 Short or Over Current
2 Open Motor or Connection
3 High Voltage Too High
4 Low Voltage Too Low
5 Over Temperature
If a fault occurs, reset the fault by applying a logic “0” to the Reset Fault Input (pin 4) for at least 
100ms or by cycling power off for at least 15 seconds.  After resetting, try to run the motor again.  
If the driver continues to fault, check the conditions listed below. 
Short (One Blink)
This indicates that the driver or motor has a phase shorted or there is a “short” in the motor cable 
or wiring.  Check the motor and the physical wiring for shorts.  If the driver continues to sense 
shorts after the motor and wiring are determined to be accurate, then the output transistors should 
be checked using a multimeter as follows.
1.  Set the multimeter to diode test.
2.  Place the red lead on ground (pin 7).
3.  Touch the black lead to each phase (pins 1, 2, 12, and 13). 
4.  This should give readings between 0.450V and 0.550V. 
5.  If any readings are signifi cantly less than 0.450V, then the unit has been damaged.
Open (Two Blinks)
This indicates that there is an “open” or intermittent connection in one of the motor wires.  Check 
the motor and the wiring for opens.  Another condition that may cause this type of fault, is when 
a large motor is ramped down too quickly and it loses its position (stalls).
High Voltage Too High (Three Blinks)
This indicates that the input voltage of the transformer is too high.  Check the input voltage of the 
transformer to see if it is within the specifi ed range.
Low Voltage Too Low (Four Blinks)
This indicates that there is an excess amount of current being pulled from the driver or the input 
voltage to the transformer is too low to provide the amount of current needed by the low voltage 
winding.  Check the input voltage of the transformer to see if the voltage is within the specifi ed 
range.
Over Temperature (Five Blinks)
This is caused by the heat sink reaching a temperature of 80°C.  Make sure proper ventilation or 
an additional heat sink is provided so the temperature does not reach this level. 
						

							September 2012 L01015510 Methods of Communication
There are two methods for sending commands to the DPD75601.  One is to directly talk to the 
DPD75601 by using Direct Talk Mode.  This is usually used with a computer or PLC (Programmable 
Logic Controller), where the computer or PLC gives the DPD75601 serial commands to off-load its 
processor.  For example: A PLC can utilize its outputs to toggle the DPD75601’s inputs and gain con-
trol of variable speeds, variable programs, variable distances, etc.  Simply using the DPD75601 as 
the intelligent pulse generator, a PLC can remove some of the tasks that were not meant for ladder 
logic or any PLC processing time.
The second way to give commands to the DPD75601 is to use the software program SMC60WIN to 
either manually control, or to write and send programs.  This method is used when the DPD75601 
is the main controller.  For example: A DPD75601 can replace simple motion control and replace I/O 
functional when minimal quantities of I/O are required to control specifi c machinery.  Simple motion 
profi les that can operate with 6 or less inputs and 8 or less outputs can utilize a DPD75601 controller.
Baud Rate
A term used frequently is serial data communications, a “baud” is defi ned as the reciprocal of the 
shortest pulse duration in a data word signal, including start, stop, and parity bits.  This is often taken 
to mean the same as “bits per second”, a term that expresses only the number of “data” bits per 
second.  Very often, the parity bit is included as an information or data bit.  The DPD75601 accepts 
a baud rate of 38400 only.
RS232 Protocol - Controller SW1 in RS232 Position
The DPD75601 is a DCE device, therefore it will transmit on pin 2 and receive on pin 3 of the DB9 
RS-232 connector.  The RS232 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.  The DPD75601 
does not use handshaking, thus the CTS and RTS lines are internally connected, and the CD, DTR 
and DSR lines are internally connected inside the DPD75601.  The signal line maintains levels of 
+5VDC to +15VDC and -5VDC to -15VDC.  For a valid logic level in the controller, the voltage must 
be at least +/- 3 volts.  RS232 works at distances of up to 50 feet maximum. RS232 is susceptible 
to electrical noise, and should not be used in noisy areas.  Always use the shortest cable con-
nection possible.  NOTE: Keep Controller wiring separated from motor cable/wiring.
RS485 Protocol - Controller SW1 in RS485 Position
The RS485 protocol mode is as follows; On board receivers will remain in active mode indefi nitely.  Trans-
mitters must be turned off when the unit is not sending data, to prevent the line from sending and receiving 
data at the same time.  Therefore when the PC is transmitting data its driver will be turned on and each 
of the units connected will have their drivers off.  If they are requested to send data back to the PC, the 
selected unit will turn it’s driver on to send the data and then turn it off after it has completed transmission. 
Note: The above protocol is done internally between the converter and the DPD75601.  The RS485 method 
of communication allows increased noise immunity and increased communication distance of up to 4000 
feet without repeaters.  RS485 repeaters allow an additional 4000 feet per repeater.  The DPD75601 is 
designed for two wire confi guration.  The 2 wire confi guration makes use of the tristate capabilities of RS485 
to allow a single pair of wires to share transmit and receive signals for half duplex communications.  This 
“two wire” confi guration (note that an additional ground conductor must be used) reduces cabling cost.  
Note: Keep control wiring separated from motor cable/wiring.
Section 3: Controller Functions