Anaheim Stepper DPE25601 Users Guide

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DPE25601
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
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Table of Contents
Section 1: Introduction.................................................\
................................................................................3
Description.............................................................\
........................................................................................3
Electrical Specifications..............................................................................................................................4
Ordering Information....................................................\
...................................................................................4
Dimensions/Switch Locations.....................................................................................................................5
Wiring Diagrams.........................................................\
................................................................................5
Terminal Descriptions - Driver........................................................................\
.................................................6
Terminal Descriptions - Controller........................................................................\
......................................6
Connector Descriptions - Controller........................................................................\
.........................................6
Slide Switch Descriptions - Controller........................................................................\
.....................................6
Section 2: Driver Functions...................................................................\
.......................................................7
Motor Selection...............................................................\
..............................................................................7
Step Motor Current Setting Guide...................................................................\
...........................................7
Setting the Output Current..............................................\
.................................................................................7
Reducing Output Current................................................................................................................................8
Determining Output Current.................................................................\
..........................................................8
Step Motor Configurations..........................................................................................................................8
Connecting the Step Motor........................................................................\
......................................................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
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General Description
The DPE25601 is a single-axis 2.5A bipolar microstep driver/controller, containing 2 Kbytes of 
nonvolatile stored programming space, quadrature encoder feedback, and a 24W power supply, 
all  enclosed  in  a  package.    It  provides  flexible,  independent  control  of  bipolar  stepper  motors 
with a current range from 0.5 to 2.5 amp/phase with a microstepping resolution of 1,600 steps 
per revolution 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 progra\
m the DPE25601.  
The DPE25601 also has the ability for real time functions.
The DPE25601 has 40 commands, which are easy-to-remember for direct move\
ment of the step-
per motor and communicates via either an RS232 or RS485 bidirectional serial data bus.  Up to 
99 DPE25601’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 auto correct, an analog input to control either maximum speed or absolute posi-
tion, registration mark indexing during a slew command, an output that will trigger during an index 
command at an absolute position, and a thumbwheel input for indexing a motor.  The DPE25601 
can be powered from 100-240 VAC, 50/60Hz.
Section 1:
Description
The driver in the DPE25601 (MBC25081) is a microstep motor driver that can drive motors rated 
from 0.5 to 2.5 amps/phase.  It can handle 4, 6 and 8-lead motors in a bipolar fashion.  The 
DPE25601’s driver features motor current ON/OFF capabilities and a Reduced Current Enabled 
to automatically reduce motor current to 50% of the set value after the \
last step is made (20msec 
delay).
The controller in the DPE25601 (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 DPE25601 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 DPE25601 also has specific functions such as encoder feedback, auto correction, index-on-
the-fly and output-on-the-fly .  An analog input can be used to set either the maximum speed or go 
to an absolute an absolute position based between the upper and lower programmable limits.  A 
seven decade thumbwheel switch can be read for relative indexing.  The DPE25601 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 may be used for monitoring and control-
ling machine operation and/or interaxis coordination.  The I/O are accessible independent of the 
busy state of the axis controls.  The DPE25601 has a built-in programmable reset circuit.  Reset 
is automatic on power-up, or by pressing the external reset button.
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Electrical Specifications
Power Requirements:
100 - 240 VAC 50/60Hz
Operating Temperature:
0 to 60° C
Pulse Output Range:
1 to 50,000 Hz (0 to 31.25 Rev/Sec)
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog Input 1: 0 to 5VDC
Output Current Rating:
2.5 A/phase maximum running
1.75 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 fly:
50uS
Note: For inductive loads, customers must 
connect a clamping diode to protect from 
flyback 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
DPE25601 Controller/Drive Pack - Features a 2.5 amp bipolar drive and 24W power s\
upply
DPY50601 Controller/Drive Pack - Features a 5 amp bipolar drive and 125W power su\
pply.
DPD75601 Controller/Drive Pack - Features a 7 amp unipolar drive and 300W power s\
upply.
DPN10601 Controller/Drive Pack - Features a 10 amp unipolar drive and 300W power \
supply.
485SD9TB RS232 to RS485 converter.
TWS7 Seven position thumbwheel switch compatible with any SMC60 series contro\
ller.
AA9MFC-6 6 foot straight through serial cable with one DB9 male and one DB9 femal\
e connector.
A CD, provided when you purchase the unit, contains this user’s manual, along with the SMC-
60WIN software and DPE25601 program examples.  The software allows you to write and change 
programs that are to be stored in the DPE25601 for autostart use, and also upload the program 
that is stored in the DPE25601 itself for editing and viewing.  The software also allows you to save 
the programs onto your computer hard drive, and easily retrieve them whe\
n needed.
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Dimensions
Wiring Diagrams
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PositionDescription - Motor Connection
1 Phase A: Phase 1 of the Step Motor
2 Phase Ā: Phase 3 of the Step Motor
3 Phase B: Phase 2 of the Step Motor
4 Phase B: Phase 4 of the Step Motor
Terminal Descriptions - Driver
Terminal Descriptions - Controller
Connector Descriptions - Controller
Slide Switch Descriptions - Controller
Position Description - Encoder
1 A(-)
2 B(+)
3 IGND - 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 fly 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 fly 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.
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Motor Selection
The DPE25601 incorporates a Bipolar Microstep Driver that is compatible with both Bipolar and 
Unipolar Motor Configurations, (i.e. 8 and 4 lead motors, and 6 lead center tapped motors).
Step motors with low current ratings and high inductance will perform better at low speeds, pro-
viding higher low-end torque.  Motors with high current ratings and low inductance will perform 
better at higher speeds, providing more high-end torque.
Since the DPE25601 is a constant current source, it is not necessary to use a motor that is rated 
at the same voltage as the supply voltage.  What is important is that th\
e driver is set to the ap-
propriate current level based on the motor being used.  Refer to the fol\
lowing chart for setting the 
current potentiometer based on the current code in the part number of the motor.  Examples of 
motor part numbers are shown below.  Anaheim Automation offers a comprehensive line of step 
motors in 14, 17, 23, 34 and 42 frame sizes.  Contact the factory to verify motor compatibility 
with the DPE25601.
Section 2:
Step Motor Current Setting Guide
Unipolar Rating Series Peak 
Rating Parallel 
Peak Rating Series 
Current  Setting Parallel 
Current  Setting
0.5A 0.5A1.0A0%25%
1.0A 1.0A2.0A25%75%
1.5A 1.5A3.0A50%100%
2.0A 2.0A4.0A75%100%
2.5A 2.5A5.0A100% ----
3.0A 3.0A6.0A100% ----
Anaheim Automation offers motor cable, making hook-ups quick 
and easy! Contact the factory or visit our website for more motor 
and cable offerings.
Setting the Output Current
The output current on the DPE25601 is set by an onboard potentiometer.  This potentiometer 
determines the per phase peak output current of the driver.  The relationship between the output 
current and the potentiometer value is as follows.
Peak Current Potentiometer 
Setting Peak Current Potentiometer 
Setting
0.50A 0%1.70A 60%
0.70A 10%1.90A 70%
0.90A 20%2.10A 80%
1.10A 30%2.30A 90%
1.30A 40%2.50A 100%
1.50A 50% ------
Refer to Table 5 for specific motor current settings.
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Reducing Output Current
Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON posi-
tion and occurs approximately 1 second after the last positive going edge of the step clock input.  
The amount of current per phase in the reduction mode is approximately 50% of the set current.  
When the current reduction circuit is activated, the current reduction r\
esistor is paralleled with 
the current adjustment potentiometer.  This lowers the total resistance value, and thus lowers 
the per Phase output current.
Determine Output Current
The output current for the motor used when microstepping is determined differently from that of 
a full/half step unipolar driver.  In the DPE25601, a sine/cosine output function is used in rotating 
the motor.  The output current for a given motor is determined by the motors current rating and 
the  wiring  configuration  of  the  motor.   There  is  a  current  adjustment  potentiometer  used  to  set 
the output current of the DPE25601.  This sets the peak output current of the sine/cosine waves.  
The specified motor current (which is the unipolar value) is multiplied by a factor of 1.0, 1.4, or 
2.0 depending on the motor configuration (series, half-coil, or parallel).
Step Motor Configurations
Step motors can be configured as 4, 6, or 8 leads.  Each configuration requires different currents.  
Refer to the lead configurations and the procedures to determine their output current.
WARNING! Step motors will run hot even when configured correctly.  Damage may occur to the 
motor  if  a  higher  than  specified  current  is  used.    Most  specified  motor  currents  are  maximum 
values.  Care should be taken to not exceed these ratings.
6 Lead Motors
When configuring a 6 lead motor in a  half-coil configuration (connected from one end of the 
coil to the center tap), multiply the specified per Phase (or unipolar) current rating by 1.4 to de-
termine the current setting potentiometer value.  This configuration will provide more torque at 
higher speeds when compared to the series configuration.
When configuring the motor in a  series configuration (connected from end to end with the cen-
ter tap floating) use the specified per phase (or unipolar) current rating to determine the current 
setting potentiometer value.
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4 Lead Motors
Multiply the specified series motor current by 1.4 to determine the current adjustment potenti-
ometer value.  4 lead motors are usually rated with their appropriate series current, as opposed 
to the Phase Current, which is the rating for 6 and 8 lead motors.
8 Lead Motors
Series Connection:  When configuring the motor windings in series, use the per phase (or uni-
polar) current rating to determine the current setting potentiometer va\
lue.
Parallel Connection:  When configuring the motor windings in parallel, multiply the per phase (or 
unipolar) current rating by 2.0 to determine the current setting potent\
iometer value.
Note:  After the current has been determined, according to the motor connections above, use 
Table 3 to choose the proper setting for the current setting potentiomete\
r.
Connecting the Step Motor
Phase 1 and 3 of the Step Motor is connected between pins 1 and 2 on the\
 motor connector.
Phase 2 and 4 of the Step Motor is connected between pins 3 and 4 on the\
 motor connector. 
Note:  The physical direction of the motor with respect to the direction input will depend on the 
connection of the motor windings.  To reverse the direction of the motor with respect to the direc-
tion input, switch the wires on Phase 1 and Phase 3.
WARNING! Do not connect or disconnect motor wires while power is applied!
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Methods of Communication
There are two methods for sending commands to the DPE25601.  One is to directly talk to the 
DPE25601 by using Direct Talk Mode.  This is usually used with a computer or PLC (Programmable 
Logic Controller), where the computer or PLC gives the DPE25601 serial commands to off-load its 
processor.  For example: A PLC can utilize its outputs to toggle the DPE25601’s inputs and gain con-
trol of variable speeds, variable programs, variable distances, etc.  Simply using the DPE25601 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 DPE25601 is to use the software program SMC60WIN to 
either manually control, or to write and send programs.  This method is used when the DPE25601 
is the main controller.  For example: A DPE25601 can replace simple motion control and replace I/O 
functional when minimal quantities of I/O are required to control specific machinery.  Simple motion 
profiles that can operate with 6 or less inputs and 8 or less outputs can utilize a DPE25601 controller.
Baud Rate
A  term  used  frequently  is  serial  data  communications,  a  “baud”  is  defined  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 DPE25601 accepts 
a baud rate of 38400 only.
RS232 Protocol - Controller SW1 in RS232 Position
The DPE25601 is a DCE device, therefore it will transmit on pin 2 and re\
ceive 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 DPE25601 
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 DPE25601.  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 maxi\
mum. 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 cab\
le/wiring.
RS485 Protocol - Controller SW1 in RS485 Position
The RS485 protocol mode is as follows; On board receivers will remain in active mode indefinitely.  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 DPE25601.  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 DPE25601 is 
designed for two wire configuration.  The 2 wire configuration 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” configuration (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
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