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Anaheim Discounted Package PKG342DPNPSCBL User Manual

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    							31
    Section 5: Direct Talk Mode
    Direct mode is used to directly control motion for real time movements through serial communication. The 
    DPN10601 controller  has 40 commands, which are easy to remember for direct movement of a step motor.
    COM Port Settings
     Baud Rate: 38400
      Data Bits: 8
      Parity:   None
      Stop Bits: 1
      Flow Control:  Xon/Xoff
    Unit Selection
    In order to select a unit, the @ command followed by the address of the unit must be sent.
    NOTE: There should be no spaces between the @ and address select.
    How to select a unit:
      @0 (Unit 0 is selected)
      @1 (Unit 1 is selected)
      @29 (Unit 29 is selected)
    How to get a response from a unit:
      @0$ (Carriage Return)
    After the $ command, the DPN10601 will return a SMC60 + the current revision number .
    Note: In direct talk mode each command is followed by a carriage return.
    The unit communicates in half duplex mode, therefore proper setup of hyper terminal is necessary to view 
    characters, if characters are to be echoed back to the screen.
    Instructions
    All instructions require that no spaces be sent between the command and the parameter followed by a 
    carriage return.
      @0 not @ 0  correct: @0(carriage return)
          incorrect: @ 0 (carriage return)
    Command Summary:
    A - Acceleration/Deceleration
    B - Base speed
    C - Steps between outputs
    D - 1st output on the fly position
    EA - Encoder autocorrect enabled
    ED - Encoder delay
    EM - Encoder motor ratio
    ER - Encoder retries
    ET - Encoder reset
    EW - Encoder window
    G - Go number of steps
    H - Home
    I - Read inputs
    J- Fast jog speed M - Max speed
    N - Number of steps
    O - Set outputs
    P - Absolute position
    S - Go slew
    T - Motor current enabled
    V - Verify
    Z - Position
    ! - Error codes register
    $ - Version number
    % - Verify axis number
    ‘ - Index on the fly enabled
    ( - Output on the fly enabled
    + - Clockwise direction
    , - Stop soft
    - - Counterclockwise direction
    . - Stop hard
    / - Thumbwheel enabled
    : - Analog position enabled
    ; - Analog speed enabled
    [ - Analog speed lower limit
    ] - Analog speed upper limit
    ^ - Number of outputs
    { - Analog position lower limit
    } - Analog position upper limit
    ~ - Set address of DPN10601 
    						
    							32
    A - Acceleration/Deceleration
     Format:  A[value]
      Description:  This command sets the acceleration profile which is an integer value between    
                    100 and 9,999,999. The higher the value, the faster the motor acceleration.
      Range:   100 - 9,999,999
    B - Base speed
      Format:   B[value]
      Description:  This command sets the base (start) speed for motion. This value must be set 
          before motion begins and be less then the maximum speed and fast jog speed.
      Range:   1 - 5000
    C - Number of steps between outputs during output on the fly
      Format:   C[value]
      Description: 
      Range:   0 - 65535
    D - 1st Output on the fly position
      Format:  D[value]
      Description:  This command sets the position at which 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.
      Range:   0 - 65535
    EA - Encoder autocorrect enabled
      Format:  EA[0 or 1]
      Description:                   
    This command sets the number of steps between when output 1 turns on 
    during an output on the fly move. If only one output turn on is needed, set 
    this value to 0. This command is used in conjunction with the output on the 
    fly enabled “(“ command.    
    This command will either enable or disable the encoder autocorrect function.  To 
    enable the function use a 1, to disable the function use a 0. When this function is 
    enabled, the relative register is used to calculate the encoder position, therefore 
    before the next move is made, the relative register needs to be set.  This com-
    mand is used in conjunction with the encoder delay “ED”, encoder ratio “EM”, 
    encoder retries “ER” and encoder window “EW” commands. 
    						
    							33
    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. 
    						
    							34
    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  
    						
    							35
    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. 
    						
    							36
    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. 
    						
    							37
    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 
    						
    							38
    % - 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. 
    						
    							39
    / - 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. 
    						
    							40
    ^ - 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. 
    						
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