Anaheim Stepper DPY50601 Users Guide
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September 2012 L0101951 DPY50601 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 L0101952 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 Motor Ground.............................................................................................................................................6 Terminal Descriptions - Controller..............................................................................................................7 Connector Descriptions - Controller.................................................................................................................7 Slide Switch Descriptions - Controller.............................................................................................................7 Section 2: Driver Functions..........................................................................................................................8 Motor Selection..........................................................................................................................................8 Step Motor Current Setting Guide................................................................................................................8 Microstep Selection - Driver SW1 Settings.................................................................................................9 Setting the Output Current..........................................................................................................................9 Reducing Output Current............................................................................................................................10 Determining Output Current..........................................................................................................................10 Step Motor Confi gurations.........................................................................................................................10 Connecting the Step Motor..........................................................................................................................11 Short-Circuit, Mis-Wire, and Over-Current Conditions.................................................................................11 Section 3: Controller Functions..................................................................................................................12 Methods of Communication.......................................................................................................................12 Baud Rate................................................................................................................................................12 RS232 Protocol - Controller SW1 in RS232 Position........................................................................................12 RS485 Protocol - Controller SW1 in RS485 Position....................................................................................12 Axis Selection...........................................................................................................................................13 Controller Status LED..................................................................................................................................13 Technical Support.........................................................................................................................................13 Section 4: SMC60WIN Software.................................................................................................................18 File Menu...................................................................................................................................................19 Setup Menu..............................................................................................................................................19 Setup - Axis Menu.....................................................................................................................................19 Program Menu............................................................................................................................................20 Program - Autostart Program Menu............................................................................................................20 Edit Menu..................................................................................................................................................20 Help Menu................................................................................................................................................21 “The Unit is Connected” / “The Unit is NOT Connected”..................................................................................21 Toolbar......................................................................................................................................................22 Tab Sheets................................................................................................................................................22 Add/Change/Insert Commands................................................................................................................27 Calculator..................................................................................................................................................32 Section 5: Direct Talk Mode....................................................................................................................33 Section 6: Troubleshooting.....................................................................................................................43 Errors Codes.............................................................................................................................................44 Section 7: Sample Programs.....................................................................................................................45 Appendix 1: ASCII Table for Direct Mode...................................................................................................50 Appendix 1: ASCII Table for Direct Mode...................................................................................................50 Copyright ..................................................................................................................... ............................51
September 2012 L0101953 Introduction The DPY50601 is a single-axis 5A bipolar microstep driver/controller, containing 2 Kbytes of nonvolatile stored programming space, quadrature encoder feedback, and a 125W power sup- ply, all enclosed in a package. It provides fl exible, independent control of bipolar stepper motors with a current range from 0.5 to 5.0 amps/phase with microstepping resolutions from 200 steps per revolution to 12,800 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 program the DPY50601. The DPY50601 also has the ability for real time functions. The DPY50601 has 40 commands, which are easy-to-remember for direct movement of the step- per motor and communicates via either an RS232 or RS485 bidirectional serial data bus. Up to 99 DPY50601’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 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 DPY50601 can be powered from 90-135 VAC, 50/60Hz. Section 1: Description The driver in the DPY50601 (MBC05641) is a microstep motor driver that can drive motors rated from 0.5 to 5.0 amps/phase. It can handle 4, 6 and 8-lead motors in a bipolar fashion. The DPY50601’s driver features motor current ON/OFF capabilities and a Reduced Current Enable to automatically reduce motor current to 50% of the set value after the last step is made (20msec delay). With the DPY50601, various step resolution can be implemented by the onboard dip switch. These divisions range from 200 steps per revolution to 12,800 steps per revolution. Protection devices have been added to this driver for short circuit and open circuit conditions. The driver has built-in features to indicate power on (Green LED), Clocks being received (Yellow LED) and fault conditions (Red LED). The controller in the DPY50601 (PCL601) provides independent programming of acceleration/de- celeration, base speed (start up speed), max speed (running speed), jog speed, and the number of steps to be taken in both relative and absolute positioning modes. On absolute positioning moves, the DPY50601 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 defi nes. The DPY50601 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 DPY50601 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 controlling machine operation and/or interaxis coordination. The I/O are accessible independent of the busy state of the axis controls. The DPY50601 has a built-in programmable reset circuit. Reset is automatic on power-up, or by pressing the external reset button.
September 2012 L0101954 Electrical Specifi cations Power Requirements: 90-135 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 Output Current Rating: 5 A/phase maximum running 3.5 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 DPY50601 Controller/Drive Pack - Features a 5 amp bipolar drive and 125W power supply. DPD75601 Controller/Drive Pack - Features a 7 amp unipolar drive and 300W power supply. DPN10601 Controller/Drive Pack - Features a 10 amp unipolar drive and 300W power supply. 485SD9TB RS232 to RS485 converter. TSW7 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. A CD, provided when you purchase the unit, contains this user’s manual, along with the SMC- 60WIN software and DPY50601 program examples. The software allows you to write and change programs that are to be stored in the DPY50601 for autostart use, and also upload the program that is store in the DPY50601 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 L0101955 Dimensions/Switch Locations Wiring Diagrams
September 2012 L0101956 Position Description - Driver Inputs 1 Step Clock Input Anode (+): Internally Connected to controllers +5VDC 2 Step Clock Input Cathode (-): Internally Connected to controllers clock output 3 Direction Anode (+): Internally Connected to controllers +5VDC 4 Direction Cathode (-): Internally Connected to controllers direction output 5 ON/OFF Anode (+): Internally Connected to controllers +5VDC 6 ON/OFF Cathode (-): Internally Connected to controllers on/off output Terminal Descriptions - Driver Position Description - 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 5 Motor Ground Motor Ground Meant to be used in conjunction with the motor cable ground wire. Make sure the connection is only on one end of the motor cable ground wire. If not motor shield is available, and if the motor has no ground wire, the motor ground pin can be left with no connection.
September 2012 L0101957 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 - Encoder 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 - Inputs 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 L0101958 Motor Selection The DPY50601 incorporates a Bipolar Microstep Driver that is compatible with both Bipolar and Unipolar Motor Confi gurations, (i.e. 8 and 4 lead motors, and 6 lead 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 DPY50601 is a constant current source, it is not necessary to use motor that is rated at the same voltage as the supply voltage. What is important is that the driver is set to the ap- propriate current level based on the motor being used. Refer to the following 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 live of step motors in 14, 17, 23, 34 and 42 frame sizes. Contact the factory to verify motor compatibility with the DPY50601. Section 2: Driver Functions Step Motor Current Setting Guide Motor ExampleMotor Current Number CodeUnipolar RatingSeries Peak RatingParallel Peak RatingSeries Current SettingParallel Current Setting 23D102S 02 1.0A 1.0A 2.0A 22% 40% 23L303D-LW8 03 1.5A 1.5A 3.0A 30% 60% 34N104S-LW8 04 2.0A 2.0A 4.0A 40% 80% 23L4005D-LW8 05 2.5A 2.5A 5.0A 50% 100% 34A106B 06 3.0A 3.0A 6.0A 60% 100% 34N207S-LW8 07 3.5A 3.5A 7.0A 70% 100% 34K108S-LW8 08 4.0A 4.0A 8.0A 80% --- 42N209S-CB 09 4.5A 4.5A 9.0A 90% --- 23L310S-LW8 10 5.0A 5.0A 10.0A 100% --- 34D311D 11 5.5A 5.5A 11.0A 100% --- 42K112S-CB 12 6.0A 6.0A 12.0A 100% --- Anaheim Automation offers motor cable, making hook-ups quick and easy! Contact the factory or visit our website for more motor and cable offerings. Table 5: Table selection for Anaheim Automation motor current settings.
September 2012 L0101959 Microstep Selection - Driver SW1 Settings Switches 2, 3 and 4, of the DIP switch select the number of microsteps per step. Table 6 shows the standard resolution values along with the associated positions for the select switches. The standard waveforms are sinusoidal. Resolution Steps/Rev Select 1 Select 2 Select 3 Select 4 Auto Reduce Current 1 200 OFF ON ON ON Disabled 2 400 OFF ON ON OFF Disabled 5 1000 OFF ON OFF ON Disabled 8 1600 OFF ON OFF OFF Disabled 10 2000 OFF OFF ON ON Disabled 16 3200 OFF OFF ON OFF Disabled 32 6400 OFF OFF OFF ON Disabled 64 12800 OFF OFF OFF OFF Disabled 1 200 ON ON ON ON Enabled 2 400 ON ON ON OFF Enabled 5 1000 ON ON OFF ON Enabled 8 1600 ON ON OFF OFF Enabled 10 2000 ON OFF ON ON Enabled 16 3200 ON OFF ON OFF Enabled 32 6400 ON OFF OFF ON Enabled 64 12800 ON OFF OFF OFF Enabled Setting the Output Current The output current on the DPY50601 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 0.5A 0% 3.0A 60% 0.6A 10% 3.5A 70% 0.9A 20% 4.0A 80% 1.5A 30% 4.5A 90% 2.0A 40% 5.0A 100% 2.5A 50% -- -- Refer to Table 5 for specifi c motor current settings. Table 6: Microstep selection on switch 1. Table 7: Potentiometer values with respect to the output current.
September 2012 L01019510 Reducing Output Current Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position 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 resistor is paralleled with the current adjustment potentiometer. This lowers the total resistance value, and thus lowers the per Phase output current. Determining 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 DPY50601, a sine/cosine output function is used in rotating the motor. The output current for a given motor is determined by the motors current and the wiring con- fi guration of the motor. There is a current adjustment potentiometer used to set the output current of the DPY50601. This sets the peak output current of the sine/cosine waves. The specifi ed motor current (which is the unipolar value) is multiplied by a factor of 1.0, 1.4, or 2.0 depending on the motor confi guration (series, half-coil, or parallel). Step Motor Confi gurations Step motors can be confi gured as 4, 6, or 8 leads. Each confi guration requires different currents. Refer to the lead confi gurations and the procedures to determine their output current. Warning! Step motors will run hot even when confi gured correctly. Damage may occur to the motor if a higher than specifi ed current is used. 6 Lead Motors When confi guring a 6 lead motor in a half-coil confi guration (connected from one end of the coil to the center tap), multiply the specifi ed per Phase (or unipolar) current rating by 1.4 to de- termine the current setting potentiometer value. This confi guration will provide more torque at higher speeds when compared to the series confi guration. When confi guring the motor in a series confi guration (connected from end to end with the cen- ter tap fl oating) use the specifi ed per phase (or unipolar) current rating to determine the current setting potentiometer value.