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Anaheim Discounted Package PKG343DPNCBL User Manual

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    							910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990     Fax. (714) 992-0471     www.anaheimautomation.com
    PKG-343-DPN-CBL
    System Diagram and Specifications
    L010883
    Included Components:
    34Y314S-LW8-MS Stepper Motor
    DPN10601 10Amp Stepper Driver Pack
    CBL-18AWG-04C-010-MS Motor Cable
    Sheet1
    Page 1
    0 
    16.5 
    33 
    49.5 
    66 
    82.5 
    99 
    115.5 
    132 
    148.5 
    165 
    0 
    160 
    320 
    480 
    640 
    800 
    960 
    1120 
    1280 
    1440 
    1600 
    0 5 10 15 20 25 30 35 40 45 50 
    POWER (Watts)
     
    TORQUE (oz
    -in) 
    SPEED (RPS) 
    34Y314S-LW8, MBC10641, 118VAC, Div by  8, Series 
    TORQUE 
    POWER  
    						
    							FEATURES
    SPECIFICATIONS/DIMENSIONS
    910 East Orangefair Ln.  Anaheim, CA 92801     Tel. (714) 992-6990      Fax. (714) 992-0471     www.anaheimautomation.com
    The 34Y314S-LW8-MS High Torque Stepper Motor offers a great value without sacrificing quality.  This 
    motor was designed to offer the highest possible torque while minimizing vibration and audible noise. It is 
    wired in series with a Molex 4 pin Mini-Fit Jr. receptacle. 
    A 10 ft. 4 conductor, 18 AWG cable with mating 4 pin Mini-Fit Jr plug is included in the PKG-343-DPN-CBL 
    stepper/motor package.
    34Y314S-LW8-MS - High Torque Stepper Motor34Y314S-LW8-MS - High Torque Stepper Motor
    • NEMA 34 Frame Size
    • Holding Torque - 1,700 oz-in
    • 1.8° Step Angle
    • High Step Accuracy and Resolution
    • Low Vibration and Noise
    • CE Certified RoHS Compliant
    Model #NEMA 
    Size Holding
    Torque(oz-in) Bipolar
    Current (A) Bipolar 
    Resistance (ohms) Bipolar
    Voltage  (v) Bipolar 
    Inductance (mH) Rotor 
    Inertia
    (oz-in-sec2) Shaft 
    Diameter (in) Weight
    (lbs) Length
    (in)
    34Y314S-LW8-MS 341700 5.01.12 5.614.2 0.0566 0.62511.96.14
    Specifications
    Step Angle Accuracy: ± 5% (Full Step, No Load) Insulation Resistance:100M Ohm Min, 500VDC
    Resistance Accuracy: ± 10% Dielectric Strength:500VDC for 1 minute
    Inductance Accuracy: ± 20% Shaft Radial Play:0.02” Max (1.0 lbs)
    Temperature Rise: 80°C Max (2 Phases On) End Play:0.08” Max (1.0 lbs)
    Ambient Temperature: -20° to +50° C Max Radial Force:49.5 lbs (0.79” from flange)
    Insulation Type: Class B Max Axial Force:13.5 lbs-Force
    Pin #Lead Wire Connection Lead Wire Color
    1 Phase 1 (A) Black
    2 Phase 3 (A\) Orange
    3 Phase 2 (B) Red
    4 Phase 4 (B\) Yellow
    Soldered Together White/Black & White/Orange
    Soldered Together White/Red & White/Yellow 
    						
    							3
    Table of Contents
    Section 1: Introduction ........................................................................\
    ................................................................... 4
    Description........................................................................\
    ........................................................................\
    ................. 4
    Electrical Specifications  ........................................................................\
    ..................................................................... 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
    Microstep Selection - Driver DIP Switch Settings ........................................................................\
    .............................. 8
    Setting the Output Current ........................................................................\
    ................................................................. 9
    Reducing Output Current ........................................................................\
    ................................................................... 9
    Short-Circuit, Mis-Wire, and Over-Current Conditions  ........................................................................\
    ...................... 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
    Error Codes  ........................................................................\
    ........................................................................\
    ............. 42
    Section 7: Sample Programs ........................................................................\
    ........................................................ 43
    Appendix: ASCII Table for Direct Mode  ........................................................................\
    ........................................... 45
    DPN10601 - 10Amp Driver Pack 
    With Programmable IndexerDPN10601 - 10Amp Driver Pack 
    With Programmable Indexer 
    						
    							4
    Section 1: Introduction
    The  DPN10601  is  a  single-axis  10Amp  bipolar  microstep    driver/controller  containing  2  Kbytes  of  non-
    volatile stored programming space, quadrature encoder feedback, and a 300W transformer, mounted in 
    a sheet metal enclosure. It provides flexible, independent control of bipolar stepper motors with a current 
    range from 1.5 to 10.0 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 DPN10601. The DPN10601 also 
    has the ability for real time functions.
    The DPN10601 has 40 commands, which are easy-to-remember for direct movement of the stepper motor 
    and communicates via  either an RS232 or RS485 bidirectional serial data bus. Up to 99 DPN10601’s can 
    be networked from one communications port on your PC or PLC, utilizing the RS485 communications pro-
    tocol. 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, 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 DPN10601 can be powered from 90-265 VAC, 50/60Hz,
    Description
    The MBC10641 driver in the DPN10601 is a microstep motor driver that can drive motors rated from 1.5 
    to 10.0 amps/phase. It can handle 4, 6 and 8-lead motors in a bipolar fashion.  The DPN10601’s driver 
    features motor current ON/OFF capabilities and a Reduced Current Enable to automatically reduces motor 
    current to 70% of the set value after the last step is made (20msec delay). With the DPN10601, various 
    step resolutions 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, 
    open circuit, over voltage, under voltage and over temperature conditions. The driver has built-in features 
    to indicate power on (Green LED), Clocks being received (Yellow LED) and fault conditions (Red LED).
    The PCL601 controller in the DPN10601 provides independent programming of acceleration/deceleration, 
    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 DPN10601 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  DPN10601  also  has  specific  functions 
    such  as encoder  feed  back,  autocorrection,  index-on-the-fly  and  output-on-the-fly . An  analog  input  can 
    be  used  to  set  either  the  maximum  speed  or  goto  an  absolute  position  based  between  the  upper  and 
    lower  programmable  limits. A  seven  decade  thumbwheel  switch  can  be  read  for  relative  indexing.  The 
    DPN10601 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 
    DPN10601 has a built-in programmable reset circuit. Reset is automatic on power-up, or by pressing the 
    external reset button. 
    						
    							5
    Electrical Specifications
    Power Requirements:
    90-265 VAC 50/60Hz
    Operating Temperature:
    0 to 60 degrees C
    Pulse Output Range:
    1 to 50,000 Hz
    10uS 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:
    10.0 A/phase maximum running
    7.0A/phase maximum standstillBaud 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
    Output1 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.
    Wiring Diagram 
    						
    							6
    Terminal Descriptions - Power Options
    The DPN10601 is powered by an AC line voltages ranging from 90-265VAC. The following figure shows 
    the various line voltages and the wiring for the power connection terminal block.
    Terminal Descriptions - Driver
    PositionDescription - 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
    7 +5 VDC: This non-isolated output can be used to supply up to 50mA of current.
    8 0 VDC: +5 VDC return.
    Position Description - Motor Connection
    1 Phase A: Phase 1 of the Step Motor
    2 Phase A\: 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 no motor shield is available, and if the motor has no ground 
    wire, the motor ground pin can be left with no connection. 
    						
    							7
    Slide Switch Descriptions - Controller
    Switch NumberDescription
    SW1 This switch is used to select either RS232 or RS485.
    Connector Descriptions - Controller
    Switch Number 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.
    Terminal Descriptions - Controller
    PositionDescription - RS485
    1 A(-)
    2 B(+)
    3 IGND - 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 - Inputs
    1 Input 1 - Analog input
    2 Input 2 - Index on the fly input
    3 Input 3
    4 Input 4
    5 Input 5
    6 Input 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
    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 
    						
    							8
    Section 2: Driver Functions
    Microstep Selection - Driver DIP Switch Settings
    Switches 2, 3 and 4, of the DIP switch select the number of microsteps per step. The following table shows 
    the standard resolution values along with the associated positions for the select switches. The standard 
    waveforms are sinusoidal.
    ResolutionSteps/RevSelect 1Select 2 Select 3Select 4 Auto Reduce Current
    1 200OFFONONON Disabled
    2 400OFFONONOFF Disabled
    5 1000 OFFONOFF ON Disabled
    8 1600 OFFONOFF OFF Disabled
    10 2000OFFOFF ONON Disabled
    16 3200OFFOFF ONOFF Disabled
    32 6400OFFOFF OFF ON Disabled
    64 12800 OFFOFF OFFOFF Disabled
    1 200ONON ONON Enabled
    2 400ONON ONOFF Enabled
    5 1000 ONONOFF ON Enabled
    8 1600 ONONOFF OFF Enabled
    10 2000 ONOFF ONON Enabled
    16 3200 ONOFF ONOFF Enabled
    32 6400 ONOFF OFF ON Enabled
    64 12800 ONOFF OFFOFF Enabled 
    						
    							9
    Setting the Output Current
    The output current on the DPN10601 is set by an onboard potentiometer. This potentiometer determines 
    the per phase peak output current of the driver. The specified motor current of 5.0A for the 
    34Y314S-LW8-MS (which is the bipolar value) is multiplied by a factor of 1.4 to\
     determine the 
    current adjustment potentiometer value of 7.0Amps or 60%. 
    Peak CurrentPotentiometer Setting Peak CurrentPotentiometer Setting
    1.5A 0%7.0A 60%
    2.3A 10%7.9A70%
    3.1A 20%8.7A80%
    4.0A 30%9.6A90%
    5.0A 40% 10A100%
    6.0A 50% ----
    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 70% 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.
    WARNING! Step motors will run hot even when configured correctly. Damage may occur to the mo-
    tor if a higher than specified current is used. Most specified motor currents are maximum values. Care 
    should be taken to not exceed these ratings. Do not connect or disconnect motor wires while power is 
    applied!
    Short-Circuit, Mis-Wire, and Over-Current Conditions
    If it is found that there is a condition that causes on over current in the driver phase transistors, the Red 
    LED  will  turn  on  solid  and  power  will  be  shut  off  to  the  motor.   To  reset  the  drive  turn  power  off,  check 
    wiring, and turn power back on.
    Over-Temperature and Over-Voltage Conditions
    If it is found that there is an over temperature on the internal heat sink, or an over voltage on the motor 
    bus voltage,  the Red LED will blink and power will be shut off to the motor.  To reset the drive turn power 
    off, check wiring, and turn power back on. 
    						
    							10
    Section 3: Controller Functions
    Methods of Communication
    There are two methods for sending commands to the DPN10601. One is to directly talk to the DPN10601 
    by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller), 
    where the computer or PLC gives the DPN10601 serial commands to off-load its processor. For example: 
    A PLC can utilize its outputs to toggle the DPN10601’s inputs and gain control of variable speeds, variable 
    programs, variable distances, etc. Simply using the DPN10601 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 DPN10601 is to use the software program SMC60WIN to either 
    manually control, or to write and send programs. This method is used when the DPN10601 is the main 
    controller. For example: A DPN10601 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 DPN10601 controller.
    Baud Rate
    A term used frequently in 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 DPN10601 accepts a baud rate of 38400 only.
    RS232 Protocol - Controller SW1 in RS232 position
    The DPN10601 is a DCE device, therefore it will transmit on pin 2 and receive on pin3 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 DPN10601 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  DPN10601.  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 connection 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  indefinitely. 
    Transmitters 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  DPN10601. 
    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 DPN10601 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. 
    						
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