COPYRIGHT

Copyright 1997 by Anaheim Automation. All rights reserved. No part of this

USER'S MANUAL publication may be reproduced, transmitted, transcribed, stored in a retrieval
system, or translated into any language, in any form or by any means,
electronic, mechanical, magnetic, optical, chemical, manual, or otherwise,
without the prior written permission of Anaheim Automation, 910 E. Orangefair
MODEL DPD60001 Lane, Anaheim, CA 92801.

MICROSTEP DRIVER PACK DISCLAIMER

Though every effort has been made to supply complete and accurate
information in this manual, the contents are subject to change without notice or
obligation to inform the buyer. In no event will Anaheim Automation be liable
for direct, indirect, special, incidental, or consequential damages arising out of
the use or inability to use the product or documentation.
Anaheim Automation’s general policy does not recommend the use of its products in
life support applications wherein a failure or malfunction of the product may directly
threaten life or injury. Per Anaheim Automation’s Terms and Conditions, the user of
Anaheim Automation products in life support applications assumes all risks of such use
and indemnifies Anaheim Automation against all damages.

LIMITED WARRANTY
All Anaheim Automation products are warranted against defects in
workmanship, materials and construction, when used under Normal Operating
Conditions and when used in accordance with specifications. This warranty
shall be in effect for a period of twelve months from the date of purchase or
eighteen months from the date of manufacture, whichever comes first.
Warranty provisions may be voided if the products are subjected to physical
damage or abuse.

Anaheim Automation will repair or replace at its option, any of its products
which have been found to be defective and are within the warranty period,
provided that the item is shipped freight prepaid, with RMA (return material
authorization), to Anaheim Automation's plant in Anaheim, California.
ANAHEIM AUTOMATION
TECHNICAL SUPPORT
910 E. Orangefair Lane Should you have problems using the equipment covered by this manual, please
Anaheim, CA 92801 read the manual to see if it will answer the questions you have. If you need
assistance beyond what this manual can provide, contact your Local
TEL (714) 992-6990 Distributor,or Anaheim Automation direct..
FAX (714) 992-0471
http://www.anaheimautomation.com For complete terms of sales, please see Anaheim Automation’s published Terms and
Conditions.
e-mail: [email protected]

May 1997 #L010024

 TABLE OF CONTENTS INTRODUCTION

The DPD60001 is a high performance, low cost MICROSTEP Driver Pack that
incorporates advanced surface mount and ASIC technology. The DPD60001
is compact, easy to interface, and powerful enough to handle the most
demanding applications. Recognizing that cost and size are important criteria
PAGE in many low and medium power applications, Anaheim Automation designed
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 the DPD60001 to meet those needs and offer innovative features.

The DPD60001 will deliver a peak current of 5.5 Amperes per phase at 75
ORDERING INFORMATION . . . . . . . . . . . . . . . . . . . . . . 3 Volts, providing outstanding motor performance. This advanced technology
reduces ripple current while maintaining the 20kHz chopping frequency in the
DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 motor, causing less heat in both the motor and drive.
DRIVER TERMINAL DESCRIPTION . . . . . . . 5
POTENTIOMETER SETTINGS . . . . . . . . . . . . 5 Various step resolutions can be implemented by the on-board dip switches.
These divisions range from 400 steps per revolution to 51,200 steps per
SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . 6 revolution, and are available in both binary and decimal numbers. The bipolar
drive configuration handles 4, 6 and 8 lead motors. Protection devices have
OUTPUT CURRENT . . . . . . . . . . . . . . . . . . . . . . . . . 7 been added to this driver for All-Way-Short-Circuit, Over/Under Voltage, and
DETERMINING OUTPUT CURRENT . . . . . . . 7 Excessive-Temperature conditions. If an error (short-circuit or excessive-
SETTING OUTPUT CURRENT . . . . . . . . . . . . 7 temperature) occurs, a ‘Fault Output’ is available to inform the machine
control of a problem. An ‘At Full Step’ output enables the control to know when
REDUCING OUTPUT CURRENT . . . . . . . . . . 8 the motor is positioned in one of the natural step angles of the motor (typically
every 1.8°).
MOTOR SELECTION . . . . . . . . . . . . . . . . . . . . . . . . 9
STEP MOTOR CONFIGURATION . . . . . . . . . 9
STEP MOTOR CONNECTION . . . . . . . . . . . 11 Driver Pack features include:

ANAHEIM AUTOMATION #Low Cost

STEP MOTOR SELECTION . . . . . . . . . . . . . . . . . . 12 #Small Size (6.0"x 6.875"x 5.1")
#Output Current 5.5 Amps Peak
MICROSTEP SELECTION . . . . . . . . . . . . . . . . . . . 13 #400 to 51,200 steps/rev
#Short Circuit Protection
OPTICALLY ISOLATED INPUTS . . . . . . . . . . . . . 14 #Excessive-Temperature Protection
#No Minimum Inductance
TIMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 #Optical Isolation
#Integrated 200 Watt Power Supply
FAULT PROTECTION . . . . . . . . . . . . . . . . . . . . . . . 15

TORQUE/SPEED CURVES . . . . . . . . . . . . . . . . . . . 16

1 2
DPD60001 DIMENSIONS TERMINAL CONNECTION DESCRIPTIONS
Pin# Description

1 Phase 4: of the Step Motor

2 Phase 2: of the Step Motor

3 Phase 3: of the Step Motor

4 Phase 1: of the Step Motor

5 Clock: A negative going edge on this isolated input advances the motor
one increment. The size of the increment is dependent on the Microstep
Select Inputs of Switch 1.

6 Direction: This isolated input is used to change the direction of the motor.
Logic High is CW and Logic Low is CCW. Physical direction also
depends on the connection of the motor windings.

7 0VDC: Supply Voltage Ground. ( Return )

8 On/Off: This isolated input is used to enable/disable the output section of

the driver. When HIGH (open) the outputs are enabled. However, this
input does not inhibit the step clock. Therefore the outputs will be updated
by the number of clock pulses (if any) applied to the driver while it had
been disabled.

9 Reset: When LOW, this isolated input will reset the driver (outputs will
ORDERING INFORMATION FOR ANAHEIM AUTOMATION disable). When released, the driver will be at its initial state.
MICROSTEP DRIVERS AND ACCESSORIES 10 +5Volt: +5Vdc is supplied to users to power other external operations.
Table1: Terminal Block CONNECTOR DESCRIPTIONS
6 Amp Microstep Driver Packs DPD60001 Driver Pack
4 Amp Microstep Driver MDM40001 Modular Driver
6 Amp Microstep Driver MDM60001 Modular Driver POTENTIOMETER DESCRIPTIONS
10 Amp Microstep Driver MDM10001 Modular Driver
40VDC Power Supply PSA40V4A (For MDM40001) Pot Description
40VDC Power Supply PSA40V8A (For MDM40001)
40VDC Power Supply PSA40V8A-2 (For MDM40001) Reduced Reduce Current: Phase Current Reduction. This
65VDC Power Supply PSA65V5A (For MDM60001) Current POTENTIOMETER will proportionately reduce the current in
65VDC Power Supply PSA65V5A-2 (For MDM60001) both windings (1 second after the last step). The amount of
80VDC Power Supply PSA80V4A (For MDM10001) current reduction will depend on the potentiometer setting used.
Shielded Motor Cable AA129010S (Refer to Table 3)

Running Running (Adjust) Current: Phase Current Adjustment input.

Current This POTENTIOMETER adjusts the maximum Phase Current
in the motor.
Table 2: Running Current and Reduced Current Potentiometers
Driver Pack features described on page 2.

3 4
SPECIFICATIONS DETERMINING OUTPUT CURRENT

ABSOLUTE MAXIMUM RATINGS The output current for the motor used when microstepping is determined
differently from that of a halfstep/fullstep unipolar driver. In the DPD60001
INPUT VOLTAGE 125 VAC Driver Pack, a sine/cosine output current is used in rotating the motor. The
OUTPUT CURRENT 6 AMPS PEAK output current for a given motor is determined by the motors current rating and
the configuration for how the motor is hooked up. The current adjustment
DRIVER PLATE TEMPERATURE 70° C potentiometer (Running Current) is used to set the output current of the
DPD60001. This sets the peak output current of the sine/cosine waves. The
STORAGE TEMPERATURE -40° TO +125° C specified motor current (which is the RMS value) is multiplied by a factor of 0.7,
1.0, or 1.4 depending on the motor configuration (series, half-coil, or parallel).
INPUT CURRENT (PINS 5,6,8,9) 15 mA
SETTING OUTPUT CURRENT
EC, V+ = 75VDC)
ELECTRICAL SPECIFICATIONS (TA=25E
ITEM TEST MIN TYP MAX UNITS The output current on the DPD60001 is set by the Running Current
CONDITION Potentiometer.
This resistance determines the per Phase Peak output current of the driver.
Input Voltage 105 115 125 V

Phase Output Current RMS 1 4 A Running Current Current

Phase Output Current Peak 1.4 6 A Potentiometer Setting (Amps)

Quiescent Current Outputs Floating 13 mA 1 1.4

Active Power Iout=4 Amps 9 W 2 2

Dissipation RMS
3 3
Input Sink Current Input Pins 7 mA
5,6,8,9 4 4
Input Forward Voltage 1.4 1.7 V 4 4.5
+5Vdc Output Output Pin 10 5 V 5 5
+5Vdc Output Output Pin 10 50 mA 5.5 5.5
Input Reverse 5 V TABLE 3: Running Current Settings
Breakdown Voltage

Clock Pulse Width Off Time 215 nS

Clock Pulse Width On Time 50 nS

Direction Change Execution Time 100 nS

Microstep Select Execution Time 100 nS

Change

Reset Pulse Width 500 nS

5 6
REDUCING OUTPUT CURRENT STEP MOTOR CONFIGURATIONS
Step motors can be purchased in configurations of 4, 6 or 8 leads. Each
The amount of current per Phase in the reduction mode is related to the value configuration requires different current settings. Different lead configurations
of the current adjustment potentiometer (Running Current) and the current and the procedures to determine their output current are shown below .
reduction potentiometer (Reduced Current). When the current reduction circuit
is activated, the Reduced Current resistance is paralleled with the Running
Current resistance. This lowers the total resistance value, and thus lowers the 6 Lead Motors
selected Phase output current by a percentage. When configuring a 6 lead motor in a half-coil configuration (connected from
one end of the coil to the center tap) use the specified per Phase (or unipolar)
Pot 1.4 AMPS 2 AMPS 3 AMPS 4 AMPS 5 AMPS 5.5 AMPS current rating to determine the current adjustment pot setting. This
1 50% 42% 32% 26% 22% 21% configuration will provide more torque at higher speeds.
2 61% 53% 43% 36% 31% 30%
3 70% 64% 54% 46% 41% 39%
4 75% 70% 61% 54% 48% 46%
5 80% 75% 67% 59% 54% 52%
6 82% 78% 71% 64% 58% 56%
7 84% 81% 75% 68% 63% 61%
8 86% 84% 77% 71% 66% 64%
9 89% 88% 83% 78% 74% 72% When configuring the motor in a series configuration (connected from end to
TABLE 4: Percentage of I(peak) settings on Reduced Current Potentiometer end with the center tap floating) multiply the per Phase (or unipolar) current
rating by 0.7. Use this result to determine the current adjustment pot setting.
MOTOR SELECTION

The DPD60001 Driver Pack contains a bipolar Microstep driver working equally
well with 4, 6 or 8 Lead Step Motors ( Series, Half Coil, or Parallel Motor
Configurations respectively).

Motors with low current ratings and high inductance will perform better at low
speeds, providing higher low-end torque. Motors with high current ratings and
low inductance will perform better at higher speeds, providing higher high-end
torque. Since the DPD60001 is a constant current source, it is not necessary WARNING! Step motors will run hot even when configured correctly. Damage
to use a motor that is rated at the same voltage as the supply voltage. It is may occur to the motor if a higher than specified current is used. Most
important that the DPD60001 be set to the appropriate current level based on specified motor currents are maximum values. Care should be taken to not
the motor being used. exceed these ratings.

7 8
4 Lead Motors TYPICAL APPLICATION HOOK-UP

Use the specified series motor current to determine the current adjustment
resistor value. Four-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, multiply

the per Phase (or unipolar) current rating by 0.7. Use this result to determine
the current adjustment pot setting.

Parallel Connection: When configuring the motor windings in parallel, multiply

the per Phase (or unipolar) current rating by 1.4. Use this result to determine
the current adjustment pot setting.

NOTE: After the current has been determined, according to the motor WARNING: Do not connect or disconnect motor wires while power is applied!
connections above, follow the procedure Determining Output Current on page
7 to find the current value. Then use Table 3 to choose the proper pot setting.

9 10
Anaheim Automation Standard Step Motor Selection Guide MICROSTEP SELECTION
The number of microsteps per step is selected by the dip switch(SW1). Table
Part Number Motor Current 6 shows the standard resolution values along with the associated settings for
suffix: (Unipolar Rating) these switches. The standard waveforms are sinusoidal.
single shaft - “S” [ Amps ]
dual shaft - “D”
Resolution Steps/ Switch 1 Switch 2 Switch 3 Switch 4
Rev
23D104 2.0
2 400 ON ON ON ON
23D108 3.9
4 800 OFF ON ON ON
23D204 1.8
8 1,600 ON OFF ON ON
23D209 4.7
16 3,200 OFF OFF ON ON
23D306 2.9 32 6,400 ON ON OFF ON
23D309 4.6 64 12,800 OFF ON OFF ON

34D106 3.0 128 25,600 ON OFF OFF ON

34D109 4.8 256 51,200 OFF OFF OFF ON

5 1,000 ON ON ON OFF
34D207 3.5
10 2,000 OFF ON ON OFF
34D209 4.6
25 5,000 ON OFF ON OFF
34D307 3.5
50 10,000 OFF OFF ON OFF
34D311 5.5
125 25,000 ON ON OFF OFF
TABLE 5:Standard AA Motor per Phase ratings.
250 50,000 OFF ON OFF Open
Note: Anaheim Automation also carries a full line of high torque step
motors. Contact your local distributor or Anaheim Automation for a TABLE 5: Mode Selections
specification sheet.
Note: The Microstep Mode Select switches are located on the
top cover of the DPD60001.

11 12
OPTICALLY ISOLATED INPUTS FAULT PROTECTION
The following inputs to the DPD60001 Driver Pack are Optically Isolated. The DPD60001 Driver Pack is internally protected against over temperature,
over/under voltage, and short circuits. The over temperature set point is
between 60EC and 70EC.
Item Pin #

Clock 5 The short circuit protection consists of PHASE to PHASE, PHASE to

GROUND, and +V to PHASE.
Direction 6
In the condition where the DC voltage of the driver drops below +23 volts the
On/Off 8 driver’s output stage will be disabled. When the driver’s DC voltage rises back
above 24 volts, the driver will automatically re-enable the outputs (if previously
Reset 9 enabled).
Note: All inputs musts be able to sink a minimum of 7mA.
In the condition where the DC voltage of the driver exceeds approximately 82
TIMING volts, the driver will execute a fault.

The Direction and Microstep Resolution Select inputs are synchronized with the If any fault is detected by the DPD60001, the motor outputs will be disabled and
negative going edge of the Step Clock input. When the Step Clock input goes can not be re-enabled without resetting or powering down the driver. At the
low, the Direction and Microstep Select inputs are latched and further changes same time the open collector FAULT output is activated, as well as the red
to the inputs are ignored until the next falling edge of the Step Clock input. FAULT LED .

After the Direction and the Microstep Select inputs signals are latched, the
DPD60001 looks to see if any changes have occurred. If a change has OVER TEMPERATURE PROTECTION
occurred, the DPD60001 will execute the change before taking the next step.
Only AFTER the change has been executed will the step be taken. If no The DPD60001 Microstep Driver Pack is a power device and is designed to
change has occurred the DPD60001 will simply take the next step. This feature protect itself from overheating. It does this by monitoring the surface
works as an automatic debounce for the Direction and Microstep Select inputs. temperature of the drive plate and will automatically shutdown if the
temperature reaches 65°C (152°F).
The Reset and Enable(PWR) inputs are asynchronous to any input and can be
changed at any time.The Reset requires a minimum pulse width of 500 nS. To prevent shutdowns, proper ventilation is required to maximize the air flow
into the Driver Pack.

13 14
STANDARD STEP MOTOR STANDARD STEP MOTOR
TORQUE/SPEED CURVES TORQUE/SPEED CURVES

15
NOTES