Anaheim Stepper DPD75601 Users Guide

							September 2012 L01015511
RS232 to RS485 for Multiple units or cables longer than 50ft
The DPD75601 can be connected to your PC serial port via a RS485 converter (model number: 
485SD9TB sold separately).  This converter will convert the RS232 voltage signals to the com-
patible RS485 differential signals.  Only one converter box is needed per serial port.  Contact 
the factory or use the website www.anaheimautomation.com for RS485 converter information 
and sales.
Terminating Resistor
To eliminate noise on the transmission lines or when using a 4000 ft. or longer cable, a terminat-
ing resistor is suggested.  If used, the termination resistor need only be added to the last (furthest 
from the converter box) DPD75601 in the network between pins A(-) and B(+) on the RS485 
Terminal Block.  The value of this resistor should be 120 ohms.
Axis Selection
Each DPD75601 is addressed using a programmable register allowing the PC to address up to 
99 DPD75601’s from one port.  The Default axis is “0”.  To change the axis, use the SMC60WIN 
software or the “~” command.  To verify or check the axis, use the SMC60WIN software or the “%” 
command.  The axis designation is nonvolatile and will remain the same until changed by the user. 
Status LED
When powered and operated properly, the status LED will be green.  When an error occurs, the 
LED will change to RED, and an error code will be generated in the error code register.  To read 
and clear the error with software, click on the “Verify Parameters” button located in the “Motion 
Tab”.  To read and clear the error while in “Direct Mode”, use the error code “!” command.  Once 
the error has been read and cleared, the LED will return to green and the error code register will 
be cleared to 0.  Refer to the table on page 39 for a complete list of the error codes.
Technical Support
Everyone needs assistance on occasion.  If you have problems using any of the equipment cov-
ered by this manual, please read the manual to see if it will answer your questions.  Be sure to 
look in the Trouble-shooting Section located near the back of this manual.  If you need assistance 
beyond what this manual can provide, you may call the factory direct for application assistance.  
If possible, have this manual in hand.  It is often helpful to have the controller connected to a 
computer with the software installed. 
						

							September 2012 L01015512
Move Number of Steps: This command causes the motion to start in the direction last specifi ed.  
This command will move the motor the number of steps given.  (Range: 1 to 8388607)
Move to Position: The move to position command specifi es the next absolute position to go to.  The 
DPD75601 controller automatically sets the direction and number of steps needed to go to that posi-
tion.  (Range: -8388607 to +8388607)
Slew: The slew command will accelerate the motor up to maximum speed and continue to run at 
that speed until reaching a registration mark, hard limit switch, soft limit switch, receiving a “.” (stop 
hard) or “,” (stop soft) command.
Set Position: The set position command sets the position register to a designated value.  The number 
will be the new absolute position of the motor.  The default value is 0.  (Range: -8388607 to +8388607)
Limit Switch Inputs: The limit switch inputs are internally pulled up by a resistor making them normally 
+5V.  To activate the input, the pin must be grounded to (0VDC). All limit switch inputs are internally 
clamped to +5V, thus allowing voltages of up to +24VDC to be used.
Hard Limit Inputs: When a hard limit switch is encountered, the motion will stop immediately.  The 
position counter will also cease counting.  Hard limits are intended as an emergency stop for your 
system.  It should not be used to do any positioning type functions.  These limits are directional.
Soft limit Inputs: These switches should be used exclusively for homing.  Once positioned properly 
with the appropriate parameters, it causes the motor to ramp down to the base speed before encoun-
tering the home limit switch.  However, the soft limit switch will work for any type of motion command.  
These limits are directional.
NOTE: Whenever a soft limit switch is activated, the motor will decelerate and run at base speed 
during an indexing move, or stop during a slewing move.  Be sure to come back past the soft limit 
switch to set any origins, otherwise the motor will decelerate as it goes past the soft limit switch dur-
ing normal operation.
Home Limit Input: This switch is used to establish a position designated “home” or datum position 
using the following: home to soft and home limit, or home to home limit. This limit is not directional.
Home to Soft, Home Limit (2 Switch Operation): This type of homing routine requires two ground-
ing type limit switched called home and soft.  The fi rst limit switch seen is the soft limit.  This will 
decelerate the motor down to base speed.  The motor will then continue to run at base speed until it 
contacts the home limit switch input causing the motor to stop.  The home limit switch activates as a 
hard limit if a soft limit is not sensed.  The soft limit is directional, meaning that it will work in only one 
direction as specifi ed.  The soft limit switch will work for any type of motion command.  The home 
limit switch will work only for the two home motion commands.
NOTE: There should be suffi cient distance between the two limit switches, as to let the motor reach 
base speed.
Home to Home Limit (1 Switch Operation): This type of homing differs in that only one limit switch 
is needed.  In this homing routine the motor moves toward the home limit switch.  When the home 
limit switch is contacted the motor will ramp down to base speed, reverse direction and continue at 
base speed until the limit switch is released.  This is a good way to compensate for any backlash in 
a system.  It is also useful for minimizing the number of limit switches needed for homing.
NOTE: The home switch needs to be low during the entire deceleration and reversing time. 
						

							September 2012 L01015513
Jog Inputs: The jog switch inputs are internally pulled up by a resistor making them normally +5 volts.  
To activate the input, the pin must be grounded to (0VDC).  All jog switch inputs are internally clamped to 
+5V, thus allowing voltages of up to +24VDC to be used.  Jog is a manual function.  The user can select 
the direction and speed (fast or slow) by grounding the appropriate combinations of inputs.  To jog a mo-
tor, it is necessary to ground the jog input for the direction desired.  For fast jog, both the fast input and 
jog input for the appropriate direction must be low at the same time.  By grounding one of the jog inputs, 
the user causes the motor to run at base speed.  When the fast input is grounded, the motor will then ac-
celerate to the programmed jog speed.  The position register will keep track of the number of steps that 
are taken during jogging.  Once a +jog or a -jog function has been performed, the direction register will 
retain the last direction of movement; that is, a subsequent go command will be in the same direction as 
the last jog command.
Inputs: All inputs (except input 1) are internally pulled up by a resistor making them normally +5V.  To 
activate the input, the pin must be grounded to (0VDC).  All inputs are internally clamped to +5V, thus al-
lowing voltages of up to +24VDC to be used.  Six inputs are provided per axis.  The inputs are TTL, CMOS 
and 24V compatible.  The inputs may be used to initiate a machine cycle, for inter-axis coordination (in 
stored program mode), for operator intervention, for sensing a machine condition such as out of stock or 
wait temperature to be reached, etc.  A ground input will read a “0” and an open or high input will read as 
a “1”. Input 1 is a special input that is capable of reading an analog voltage between 0 and +5VDC.  Since 
this input does not have a pull-up resistor, biasing of this input is needed if it is not used as an analog 
input.  Inputs 5 and 6 are used together with the thumbwheel switch.  To use inputs 5 and 6, SW2 of the 
controller must be in the IN5/6 position.  If SW2 of the controller is in the TWS position, then these two 
inputs are not connected to the input port of the processor.
Analog Input: Input 1 can be confi gured to read an analog voltage to either set the absolute position of 
the motor or to set the maximum speed of the motor.
The set the position, when told via the go to analog position command, the input will read a voltage 
between 0 and +5VDC and based on the “upper and lower” limits of the function, a move will occur to a 
calculated position between the two limits.  The motor must fi nish the move before it can be told to read 
the input again for the next position.  For example, if the lower limit is set to 0 and the upper limit is set 
to 5000 and the analog position is set at +2.0VDC, then the motor will move to position 2000.  Changing 
the lower limit to 1000 and the voltage to +3.2VDC, the motor will move to position 3560.  See examples 
below for calculations of the analog inputs.  (Range of limits: 0 to 65535 and the lower limit < upper limit)
To set the max speed, when told via the set analog speed command the input will read a voltage between 
0 and +5VDC, and based on the “upper and lower” limits of the function, a max speed can be obtained 
based on a calculated frequency between the two points.  The speed however can not be changed when 
the DPY50601 is busy (moving).  See examples below for calculations of the analog inputs. (Range of 
limits: 0 to 50000 and the lower limit < upper limit)
Outputs: Eight outputs are provided per axis.  Outputs may be used to operate relays, coolant valves, air 
cylinders, or, with the correct interfacing, any electronically controlled device.  The outputs can drive all 
types of common peripheral power loads, including lamps, relays, solenoids, LED’s, printer heads, and 
heaters.  For inductive loads, it will be necessary to connect a clamping diode (refer to specifi cation sec-
tion) from the output to the power source in order to provide adequate fl y-back protection.  The outputs 
are current sinking, open collector darlingtons.  They are capable of sinking up to 100mA per output with 
voltages up to 40VDC.  Turning an output on will pull the output pin to ground and turning an output off 
will make the output pin open.  Output 1 has a special function (output on the fl y) that will enable it to be 
triggered at a certain absolute position during a move.  Output 8 has a special function that will trigger 
when the encoder retries function fails.
Analog Calculations Example 1: Example 2:
(Upper-Lower) * (Voltage/5) = X (5000 - 0) * (2/5) = 2000 (5000 - 1000) * (3.2/5) = 2560
Lower + X = Position or Frequency 0 + 2000 = 2000 1000 + 2560 = 3560 
						

							September 2012 L01015514
Output on the fl y: This special function enables output 1 to turn on during a relative index or absolute 
move.  There are three critical portions of information needed to make this function work correctly.  First, 
output 1 will turn on (0VDC) for a preset delay of 50uS at a specifi c absolute position set by the 1
st output 
position command.  Second, the output can then repeat this after a preset amount of steps set by the 
number of steps between outputs command, and third a predetermined amount of times to set the output 
is required by the number of outputs command which determines the preset amount of times to trigger 
the output.  So if you start at position 0 and want to move to an absolute position of 10,000, you can set 
output 1 to turn on at position 2000, and every 1000 steps after that 5 times.  So at position 2000, 3000, 
4000, 5000, and 6000 output 1 will turn on for 50uS.  To only have the output turn on at one position set 
both the “number of steps between outputs” and the “number of outputs” commands to 0.  This function 
must be enabled, and will only work during a relative index or absolute position move.  The output will 
trigger while going in either direction.  If you do not want the output to trigger in the negative direction, the 
function must be turned off before the index move is started.
Index on the fl y: This special function uses Input 2 when a motor is slewing to move a predetermined 
amount of steps, set with the registration index command, before stopping.  This function must be enabled, 
and will only work during a slew move.  The registration index must be set before movement begins.  
(Range: 1 to 8388607)
End of Program: The end of program command, used within a stored program, stops execution of the 
program.  This command must be used at the end of all programs.
Wait: In stored program mode, the wait command pauses the program for the specifi ed number of mil-
liseconds.  (Range:1 to 65535)
If/Then Statements: The if/then statements are conditional based on the values preset in the program.  
The user can either test each individual input or all inputs at once.  If the input or input register matches 
the given value or values, then the program will execute the next line.  If the input or input register does 
not match the given value, the program will skip the next line and execute the following line.  An open 
input is read as a 1, and a grounded input is read as a 0.
Branching or Go To statements: The go to instruction will have the program jump to the given label.  If 
no label is in the program, it will error when trying to send.
Return from Subroutine: This function can be placed anywhere in the program as long as a go to state-
ment has already been executed.  The program will jump back to the last go to statement encountered 
and executed the next line in the program.
Inner and Outer Loop:  The loop instructions allow the user to loop a program a variable number of times.  
The program will loop to the designated label location of the program.  However, the label must always 
be at a lower line number than the loop instruction itself.  You can only nest inner loops inside an outer 
loop.  You may not nest an inner loop inside an inner loop, or an outer loop inside an outer loop.  Multiple 
nested inner loops are allowed in one outer loop.
Finish Move:  When writing a program, the fi nish move command is used directly after every motion 
command.  When using this command, the DPD75601 internally generates a busy signal and will wait 
until the move is complete before executing any further commands.  Unless the fi nish move command is 
used, the DPD75601 will continue to execute the program.  If it encounters a command that cannot be 
used when the motor is moving, the DPD75601 will error and stop the program prematurely.
Repeat Last Move:  This command will move the motor the number of steps given in the last indexing 
move.  This command will not work correctly if the encoder auto correct function is enabled. 
						

							September 2012 L01015515
Encoder Commands: The DPD75601 controller is capable of using a quadrature incremental encoder 
with A and B channels.
Encoder Auto Correct: This command will enable or disable the encoder feature of the DPD75601.  
When enabled, the encoder function will compare the desired position with the actual encoder position. 
If it is not in the correct position a correction move will be made.
Encoder Delay: This sets the wait time, which is a specifi ed number of milliseconds after a relative 
index or absolute move is fi nished, prior to reading the encoder.  This is used to remove the ringing that 
might be associated with the mechanics of the system.  (Range: 0 to 65535)
Encoder Motor Ratio: This represents the ratio for the number of encoder pulses to one motor step.  
This ratio must be a whole number.  For example, given a 1000 line quadrature encoder and a 400 step/
revolution motor, the motor ratio is (1000 * 4)/400 = 10 (Range: 1 to 255 and must be a whole number).
Encoder Retries: This is the number of times the DPD75601 will try to auto correct the motor shaft 
position before producing an error.  When the error is produce, Output 8 is triggered.  (Range: 0 to 255)
Encoder Window: This is the allowable error in encoder pulses (either plus or minus) from the desired 
position that is allowed before the motor auto corrects. (Range: 0 to 255)
Thumbwheel Index: This special function allows a thumbwheel with up to 7 decades to be used with 
the DPD75601 to set a relative index.  To use the thumbwheel, SW2 must be in the TWS position or 
the thumbwheel will be disabled.
Acceleration/Deceleration: The acceleration and deceleration are the same value.  The acceleration 
is entered directly as steps/sec
2 and controls the time that the motor will take to move from base speed 
to max speed, and from max speed to base speed.  The higher the value, the faster the motor will ac-
celerate.  The same principal applies for the deceleration which is controlling the time it takes to go from 
the max speed to base speed.  (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops.  It is entered directly as 
the number of steps per second.  This speed must always be less than the max speed and jog speed. 
(Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the motor to run.  This speed must always 
be greater than the base speed.  It is entered directly as the number of steps per second. (Range: 1 
to 50000)
Jog Speed: The jog speed sets the fast jog rate.  Jog (+/-) is used to run at base speed.  The FJOG 
pin when grounded, will ramp the motor to the set jog speed.  This speed must always be greater than 
the base speed.  It is entered directly as the number of steps per second. (Range: 1 to 50000)
Motor Current: This command will control the ON/OFF output which is designed to connect to the ON/
OFF input of Anaheim Automation’s step motor drivers.  To energize and allow current to fl ow through 
the coil of the motor, set the value to on.  To de-energize and turn the current off to the motor, set the 
value to off.  This is dedicated output and not controlled with the output register.
Verify: The verify command causes the DPD75601 controller to send data back to the PC or PLC.  The 
data is sent as an ASCII decimal string followed by a carriage return and a line feed.  The verify com-
mands are shown in the table on page 34. 
						

							September 2012 L01015516
The SMC60WIN software is a handy utility that supports Anaheim Automation’s line of DPD75601’s 
step motor controllers.  Connecting your PC to the DPD75601, via a serial cable, the SMC60WIN 
software can easily perform the following tasks:
•  Exercise and monitor the DPD75601 controller
•  Write and edit stored programs for standalone operation
•  Directly communicate with the DPD75601 controller
Section 4: SMC60WIN Software
Installation
Software
•  The SMC60WIN is supplied on a CD, containing the setup program and the SMC60WIN 
software, DPD75601 manual and sample programs.
•  SMC60WIN software is compatible with all versions of Windows including Windows 
2000, Windows XP, Vista, and Windows 7.
Windows 95/98/NT/ME/2000/XP Installation
  Option 1
1.  Insert the CD into the drive
2.  From the Program Manager select Start │ Run
3. Enter D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
 
 Option 2
1.  Open Windows Explorer
2.  Open CD Drive Folder (D: or E:)
3.  Double Click the setup Icon
Getting Started
1.  Double click on the SMC60WIN icon to run the SMC60WIN software.
2.  Apply power to the DPD75601 controller.
3.  Set the appropriate communication setting by selecting Setup │ Com Port Settings 
from the menu bar. (Ctrl+M is a shortcut)
4.  Set the appropriate axis setting by selecting Setup │ Axis from the menu bar. (Ctrl+A 
is a shortcut)
5.  Establish communications with the DPD75601 by clicking on the Connect Icon, or select 
Setup│Connect from the menu bar.  If the unit is connected properly, the program will 
notify you when communication has been established. (Ctrl+C is a shortcut)  
						

							September 2012 L01015517
File Menu
Setup Menu
Setup - Axis Menu
Connect Establish communications with the controller.
Disconnect Release the COM port for other devices to use.
Com Port Settings Select COM port.
Axis Set axis selection and stored axis of the controller.
Select Axis Sets the axis select parameter in the SMC60WIN software. (1-99)
Defi ne Axis Sets the programmable address in the controller. (1-99)
New Program Start editing a new program.
Open Program Open an existing program from disk.
Save Program As Save the current program to disk.
Print... Print the current program.
Exit Exit the SMC60WIN software. 
						

							September 2012 L01015518
Program Menu
Program - Autostart Program Menu
Edit Menu
Disable Program will disable the execution of a store program at power up.
Enable Program will start execution when controller is powered up.
Start Program Start the execution of the program in the controller memory.
Stop Program Stop the execution of the program in the controller memory.
View Program View the program stored in the controller memory.
Clear Program Memory Clear the program memory in the controller.
Autostart Program Turn the autostart function on or off.
Add Adds a new line of code to the end of the program.
Change Edits the currently selected line of code.
Insert Insert a new line of code before the currently selected line of code.
Delete Deletes the currently selected line of code. 
						

							September 2012 L01015519
Help Menu
Error Coder Reader Utility to read the error code generated by the DPD75601 controller.
PCL601 User’s Guide Opens up the User’s Guide in .pdf format.
www.anaheimautomation.comOpens up the Anaheim Automation Website.
About Displays the verison of the SMC60WIN and contact information.
“The Unit is Connected” / “The Unit is Not Connected”
On the right of the Toolbar, the user will fi nd the communication status of the DPD75601 control-
ler.  If communications is not established, please refer to the troubleshooting section. 
						

							September 2012 L01015520
Toolbar
Exit Exit the SMC60WIN software.
New Start editing a new program.
Open Open an existing program from disk or directory.
Save Save the current program to disk or directory.
Print Print the current program.
Calculator Open the desktop calculator.
Stop All Stop the program and all motion from running.
Connect Establish communication with the controller.
Tab Sheets
Real Time Motion Monitor and control motion of the controller.
Encoder Options and 
Registration InputsMonitor and change settings for encoder options, input on the fl y and output on 
the fl y.
Analog Input and Thumb-
wheel OptionsMonitor and change settings to Analog Inputs and the thumbwheel switches.
Create and Edit Programs Write and edit DPD75601 stored programs.