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Anaheim Discounted Package PKG174DPECBL User Manual

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    ED - Encoder delay
     Format:  ED[value]
      Description:   
     
     
     
      Range:   0 - 65535
    EM - Encoder motor ratio
      Format:  EM[value]
      Description: 
     
      Range:   1 - 255
    ER -Encoder retries
      Format:  ER[value]
      Description: 
      Range:   0 - 255
    ET - Encoder reset
      Format:  ET
      Description:  This command will reset the internal encoder count register to 0.
    EW -Encoder window
      Format:  EW[value]
      Description: 
     
     
      Range:   0 - 255
    This command sets the wait time a specified number of milliseconds after a rela-
    tive index or absolute move is finished,  before reading the encoder. This is used 
    to remove the ringing that might be associated with the mechanics of the system. 
    This command is used in conjunction with the encoder autocorrect “EA” command.
    This  represents the ratio for the number of encoder pulses to one motor step. An 
    example is for a 1000 line quadrature encoder and a 400 step/revolution motor, the 
    motor ratio is (1000 * 4) / 400 = 10. This command is used in conjunction with the 
    encoder autocorrect EA command.
    This is the number of times the DPN10601 controller will try to autocorrect the motor 
    before erroring. This command is used in conjunction with the encoder autocorrect 
    EA command. When the autocorrect errors, Output 8 will be triggered.
    This is the allowable error in encoder pulses (either plus or minus) from the desired 
    position  that  is  allowed  before  the  motor  autocorrects.  This  command  is  used  in 
    conjunction with the encoder autocorrect EA command. 
    						
    							32
    G - Go number of steps
     Format:  G
      Description:  This command is used to send a set number of clocks out of the DPN10601    
          controller. An N or P command must be entered before the G command. The    
          ramp profile is specified by the B (base speed), M (max speed), and  A 
          (acceleration/deceleration) commands.
    H - Home
      Format:  H[0 or 1]
      Description:
      Home Types:         
    I - Read inputs
      Format 1:  IR
      Description:
     
      Format 2:  I[input]
      Description:  This command returns the value of the selected input to the PC. If the input is    
          open or high it will return a 1. If the input is grounded or low it will return a 0.
      Ranged:  0 - 6
    J -  Fast jog  speed
      Format:  J[value]
      Description:  This command sets the fast jog speed. This value must be   set before motion    
          begins and be greater than the base speed.
      Range:   1 - 50000
    H1:
      In  type  1  homing,  the  DPN10601  will  send  clocks  until  a  home  limit  is   
    reached, ramp down to base speed, change directions and run at base speed unit 
    the  release  of  the  home  limit  input.  The  ramp  profile  is  specified  by  the  B  (base 
    speed), M (max speed), and A (acceleration/deceleration) commands. H0:  In type 0 homing, the DPN10601 will send clocks until a soft limit is reached, 
    then  ramp  down  to  base  speed.  Clocks  will  continue  at  base  speed  until  a  home 
    limit is   reached. The ramp profile is specified by the B (base speed), M (max speed), 
    This command returns the binary value of the inputs to the PC. Since the inputs 
    are pulled up internally (except input 1), they will return a high when they are 
    open. For example; if all inputs are active (grounded), the command will return a 0. 
    If all  inputs are inactive (open), the command will return a 63. Input 1 is the LSB  
    						
    							33
    M -  Max  speed and analog speed
     Format 1:  M[value]
      Description:  This command sets the maximum (running) speed for motion. This value must be   
          set before motion begins, and be greater than the base speed.
      Range:   1 - 50000
      Format 2:  M
      Description:  
    N - Number of steps
      Format 1:  N[value] 
          
      Description: 
      Range:   0 - 8388607
      Format 2:  N
      Description: 
    O - Set outputs
      Format 1:  OR[value]
      Description:  This command sets the output register according to the binary value entered.    
          Output 1 is the LSB and output 8 is the MSB.
      Range:   0 - 255
      Format 2:  O[output]=[0 or 1]
      Description:  This command sets the selected output either on or off. A 1 will turn the output    
          on (0VDC) and a 0 will turn the output off (open).
      Range:   0 - 8 This command uses the voltage on input 1 to calculate and set the max speed. The 
    analog speed must be enabled for this command to work. This command is used 
     in conjunction with the analog speed “;”, the analog speed lower limit “[“, and the 
    analog speed  lower limit “]” commands. This value must be set before motion be-
    gins.
    This command sets the number of clocks for the DPN10601 to send out following 
    a G command. It is also used to set the registration index during and index on the 
    fly move. Motion is not activated by this command; it only sets the index register .
    This  command  reads  the  thumbwheel  switches  to  set  the  number  of  clocks  for 
    the  DPN10601 to send out following a G command. For  this command to work 
    the thumbwheel enable bit must be enabled. Motion is not activated by this com-
    mand, it only sets the index register. This command is used in conjunction with the 
    thumbwheel enabled “/” command. 
    						
    							34
    P -  Absolute position and analog position
     Format 1:  P[value]
      Description: 
     
      Range:   -8388607 to  +8388607
      Format 2:  P
      Description: 
    S - Go slew
      Format : S
      Description: 
    T - Motor current enabled
      Format:  T[0 or 1]
      Description:  This command uses the voltage on input 1 to calculate and set the number of clocks 
    for the DPN10601 to send out following a G command. The analog position must be 
    enabled for this command to work. Motion is not activated by this command, it only 
    sets the register (N = P - Z). This command is used in conjunction with the analog 
    position“:”, the analog position lower limit “{“, and the analog position lower limit “}” 
    commands. This command calculates and sets the number of clocks for the DPN10601 to 
    send out following a G command. Motion is not activated by this command; it only 
    sets the register. (N = P - Z)
    This command will send clocks out to the DPN10601. The only commands that 
    can stop the clocks are; “.” (stop motion) or “,” (soft limit). Motion can also be 
    stoppedby using the limit switch inputs. The ramp profile is specified by the B 
    (base speed), M (max speed), and A (acceleration/deceleration) commands.
    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 flow through the coil of the motor, set the value to 1. To de-energize and 
    turn the current off to the motor, set the value to 0. This is a dedicated output, and 
    not controlled with the output register. 
    						
    							35
    Z - Position
     Format:  Z[value]
      Description:  This command sets the current position as a reference. This register can contain   
          a positive or negative value but, cannot be changed while motion is in progress.
      Range:   -8388607 to +8388607
    ! -  Error codes register
      Format : !
      Description:  This command requests the DPN10601 controller to get the current error code    
          and print it to the screen. For a description of the error codes see page 39.
    $ - Version number register
      Format : $
      Description:  This command requests the DPN10601 controller to return its internal firmware    
          version number.
    V - Verify
     
    Format:  V[command]
      Description:  This command can be used with most commands to verify the register contents.    
          This is a read only command. Valid Commands are shown below.
    CommandDescription CommandDescription
    A Verify acceleration/deceleration OVerify outputs
    B Verify base speed TVerify motor current (1 is on, 0 is off)
    C Verify steps between outputs on the 
    fly Z
    Verify position
    D Verify 1st output on the fly position ‘Verify index on the fly enabled**
    EA Verify encoder autocorrect enabled** (Verify output on the fly enabled**
    ED Verify encoder delay +Verify Direction
    EM Verify encoder motor ratio /Verify thumbwheel index enabled**
    EP Verify encoder position :Verify analog position enabled**
    ER Verify encoder retries ;Verify analog speed enabled**
    EW Verify encoder window [Verify lower analog speed value
    F Verify if controller is busy (1 is busy, 
    0 is not busy) ]
    Verify upper analog speed value
    J Verify jog speed ^Verify number of outputs
    L Verify Limits (1 is Hard, 2 is Soft, 3 is 
    Hard and Soft, 0 is neither) {
    Verify lower analog position value
    M Verify max speed }Verify upper analog position value
    N Verify number of steps ** 1 is enabled, 0 is disabled 
    						
    							36
    % - Verify address  register
     Format : % (No address is needed before this function. @% will return the address)
      Description:  This command requests the DPN10601 controller to return its internal address    
          number to the PC or PLC. 
    ‘ - Index on the fly  enabled
      Format:  ‘[0 or 1]
      Description:  This command will either enable or disable the index on the fly function.  To    
          enable the function, use a 1. To disable the function use a 0. This command is    
          used in conjunction with the number of steps “N” and go slew “S” commands.
    ( - Output on the fly  enabled
      Format:  ([0 or 1]
      Description: 
    + -  Clockwise
     
      Format:  +
      Description:  This command sets the direction output to clockwise.
    , - Soft Limit Input Bit
      Format:  ,
      Description: 
    - - Counter-Clockwise
      Format:  -
      Description:  This command sets the direction output to counterclockwise.
    . - Stop Motion
      Format:  .
      Description:  This command will stop all motion. It can also be used to stop the current pro-   
          gram that is running.This command will either enable or disable the output on the fly function. 
    To  
    enable the function, use a 1. To disable the function use a 0. This command is 
    used in conjunction with the number of steps between outputs “C”, 1st output 
    position “D”, and number of outputs “^” commands. 
    This  command  will  ramp  the  clocks  down  to  base  speed.  The  move  type  then 
    determines what will happen. In a relative or absolute type motion the DPN10601 
    controller  will  continue  to  the  set  position  and  stop.  In  a  slew  type  motion  the 
    DPN10601 controller will ramp down and stop. In a home type motion the DPN10601 
    controller will ramp down and run at base speed, until the home limit is activated. 
    						
    							37
    / - Thumbwheel index enabled
     Format:  /[0 or 1]
      Description: 
    : - Analog position  enabled
      Format:  :[0 or 1]
      Description: 
    ; - Analog speed  enabled
      Format:  ;[0 or 1]
      Description: 
    [ - Analog speed  lower limit
      Format:   [[value]
      Description: 
      Range:   1 - 50000
    ] - Analog speed  upper limit
      Format:   ][value]
      Description: 
     
      Range:   1 - 50000
    This command will either enable or disable the ability to use the thumbwheel switches 
    for indexing. 
    This command will either enable or disable input 1 to be used to set the analog position. 
    To  enable  the  function,  use  a  1. To  disable  the  function  use  a  0. This  command  is 
    used in conjunction with the analog position lower limit “{“ and analog position upper 
    This command will either enable or disable input 1 to be used to set the analog speed. 
    To enable the function, use a 1. To disable the function use a 0. This command is 
    used  in  conjunction  with  the  analog  speed  lower  limit  “[“  and  analog  speed  upper 
    This command sets the lower limit that is used during the calculation following an M 
    command for the analog speed input. This command is used in conjunction with the 
    analog speed enabled “;” and max speed “M” commands.
    This command sets the upper limit that is used during the calculation following an M 
    command for the analog speed input. This command is used in conjunction with the 
    analog speed enabled “;” and max speed “M” commands. 
    						
    							38
    ^ - Number of outputs during output on the fly
     Format:   ^[value]
      Description: 
     
      Range:   0 - 255
    { - Analog position lower limit
      Format:   {[value]
      Description: 
     
      Range:   0 - 65535
    } - Analog position upper limit
      Format:   }[value]
      Description:  This command sets the upper limit that is used during the calculation following a    
          P command for the analog position input. This command is used in conjunction    
          with the analog position enable “:” and absolute position “P” commands.
      Range:   0 - 65535
    ~ - Set address  register
      Format : ~[value] (No address is needed before this function. @~[value] will set the address)
      Description:  This command sets the address for communication inside the DPN10601.
      Range:   0 - 99 This command sets the number of times output 1 will turn on during an output 
    on the fly move. This command is used in conjunction with the output on the fly 
    enabled “(“ command.
    This command sets the lower limit that is used during the calculation following a P  
    ommand for the analog position input. This command is used in conjunction with 
    the analog position enable “:” and absolute position “P” commands. 
    						
    							39
    Section 6: Troubleshooting
    Problem:
     Cannot establish communications with the DPN10601.
    Possible Solutions:
      1) Make sure the DPN10601 controller has power. Is the controller’s Green LED on ?
      2) Check the RS232/RS485 connections.
      3) Check for loose cable connections either on the DPN10601 controller or COM Port.
      4) Was the software installed successfully?
      5) Go to Setup | Co m Port Settings and verify COM port setting.
      6) Go to Setup |  Axis and verify address settings are the same.
      7) Click on Setup | Connect icon to communicate with the DPN10601 controller.
      8) If problems still exist, contact Anaheim Automation Tech Support.
    910 E Orangefair Lane
    Anaheim, CA 92801, USA
    www.anaheimautomation.com
    [email protected]
    Anaheim Automation
    Technical Assistance
    Problem:
      There is no power to the DPN10601 controller.
    Possible Solutions:
      1) Is the DPN10601 controller connected to the appropriate power supply?
      2) Check for any blown fuses in line with the DPN10601 controller .
      3) If problems still exist, contact Anaheim Automation, Inc. Tech Support.
    Problem:
      My program won’t “Autostart”.
    Possible Solutions:
      1) Verify that the Autostart Function has been enabled. 
      2) Go to Setup |  Autostart Program and Click on  Enable.
      3) If problems still exist, contact Anaheim Automation Tech Support. 
    						
    							40
    Problem:The DPN10601 controller has a fault condition.
    Possible Solutions:
     1) Verify your program for improper syntax that may cause an error code.
      2) Physically press the reset button on the DPN10601 to clear an error .
      3) Another way to clear an error is by using either the SMC60WIN software or the direct mode    
              command instructions set. 
      4) The SMC60WIN can clear an error in the real time motion tab section by clicking on the verify   
          parameters button.
      5) The direct mode command “!” can clear an error by simply prompting the error code register    
              to return the value back to the PC or PLC. 
    Note: Read the Error returned to the screen to better understand what can be causing the fault condition. 
    The error is returned in binary coded decimal format. If two errors were received, their binary values would 
    be added together.
    Error Codes
    Error Code TypeDescription
    1 Receive Overflow 
    Error The serial communications had a receiving error. This is an internal error caused by 
    the computer.
    2 Encoder Error 1 The encoder needed to correct the index.
    4 Encoder Error 2 The encoder could not finish the index.  Output 8 is set with this error .
    8 Command Error A bad command was sent to the controller. Please check to see that the command 
    being sent is valid.
    16 Motor Error Motor speed profiles are set incorrectly. Please make sure that the base speed is less 
    than the max speed and that the speeds are within their valid ranges.
    32 Range Overflow 
    Error The go to position has an overflow error. This is caused by the P command trying to 
    find a position that is out of its range.
    64 Range Error There was an invalid number of commands and characters sent to the controller
    . 
    Check to see if the parameters are invalid for the command that was sent.
    128 Transmitt
    Error To many parameters sent back to the PC. This is an internal error caused by the 
    eeprom.
    256 Mode Error Controller is in a wrong mode. Some commands are good only in programming mode, 
    while others are good only in direct mode. Check the direct mode section to see which 
    commands are good in direct mode.
    512 Zero Parameters 
    Error There were no parameters sent to the controller. A command was sent to the controller 
    that expected to see parameters after the command.
    1024 Busy Error The controller is busy indexing. The controller is sending out clocks to the driver and 
    can not execute the next instruction.
    2048 Memory Range 
    Error The specified address is out of range. This is caused by overflowing the program 
    memory by having a program that is to large.
    4096 Memory Command 
    Error The command pulled from memory is invalid. The command that was stored into the 
    eeprom was non executable by the program. This is an internal error.
    8192 Thumbwheel Read 
    Error There was an error reading the thumbwheel or the thumbwheel is not present. 
    						
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