Anaheim Discounted Package PKG172DPECBL User Manual

							31
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.