Anaheim Discounted Package PKG173DPECBL User Manual

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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 be-   
    fore 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:  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.
  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 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 command        
is used in conjunction with the encoder delay “ED”, encoder ratio “EM”, encoder         
						

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ED - Encoder delay
 Format:  ED[value]
  Description:  This command sets the wait time a specified number of milliseconds after a relative 
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. 
  Range:   0 - 65535
EM - Encoder motor ratio
  Format:  EM[value]
  Description:  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.
  Range:   1 - 255
ER -Encoder retries
  Format:  ER[value]
  Description:  This is the number of times the DPE25601 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.
  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:  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.
 
  Range:   0 - 255 
						

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G - Go number of steps
 Format:  G
  Description:  This command is used to send a set number of clocks out of the DPE25601  
      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 (accelera-
tion/deceleration) commands.
H - Home
  Format:  H[0 or 1]
  Description:
  Home Types:  H0: In type 0 homing, the DPE25601 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), and A (acceleration/deceleration) commands.
      H1:  In type 1 homing, the DPE25601 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/decelera -
tion) commands.
I - Read inputs
  Format 1:  IR
  Description:  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 and input 6 is the MSB.
  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 
						

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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:   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 begins.
N - Number of steps
  Format 1:  N[value] 
      
  Description:  This command sets the number of clocks for the DPE25601 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.
  Range:   0 - 8388607
  Format 2:  N
  Description:  This command reads the thumbwheel switches to set the number of clocks for the  
DPE25601  to  send  out  following  a  G  command.  For    this  command  to  work  SW2  must  be  in  the TWS 
position, and the thumbwheel enable bit must be enabled. Motion is not activated by this command, it only 
sets the index register. This command is used in conjunction with the thumbwheel enabled “/” command.
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 
						

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P -  Absolute position and analog position
 Format 1:  P[value]
  Description:  This command calculates and sets the number of clocks for the DPE25601 to    
    send out following a G command. Motion is not activated by this command; it      
  only sets the register. (N = P - Z)
  Range:   -8388607 to  +8388607
  Format 2:  P
  Description:  This command uses the voltage on input 1 to calculate and set the number of    
    clocks for the DPE25601 to send out following a G command. The analog position    
    must be enabled for this command to work. Motion is not activated by this com-     
  mand, 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.
S - Go slew
  Format : S
  Description:  This command will send clocks out to the DPE25601. 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.
T - Motor current enabled
  Format:  T[0 or 1]
  Description:  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. 
						

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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 DPE25601 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  DPE25601  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.
Command Description 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 
						

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% - Verify address  register
 Format : % (No address is needed before this function. @% will return the address)
  Description:  This command requests the DPE25601 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:  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.
+ -  Clockwise
 
  Format:  +
  Description:  This command sets the direction output to clockwise.
, - Soft Limit Input Bit
  Format:  ,
  Description:  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 DPE25601    
    controller will continue to the set position and stop. In a slew type motion the      
  DPE25601 controller will ramp down and stop. In a home type motion the DPE25601      
  controller will ramp down and run at base speed, until the home limit is activated.
- - 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. 
						

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/ - Thumbwheel index enabled
 Format:  /[0 or 1]
  Description:  This command will either enable or disable the ability to use the thumbwheel    
    switches for indexing. If enable, SW2 must be in the TWS position for the       
  thumbwheel to be connected to the processor.
: - Analog position  enabled
  Format:  :[0 or 1]
  Description:  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 limit “}” commands.
; - Analog speed  enabled
  Format:  ;[0 or 1]
  Description:  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    
    limit “]” commands.
[ - Analog speed  lower limit
  Format:   [[value]
  Description:  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.
  Range:   1 - 50000
] - Analog speed  upper limit
  Format:   ][value]
  Description:  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.
  Range:   1 - 50000 
						

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^ - Number of outputs during output on the fly
 Format:   ^[value]
  Description:  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 en-     
  abled “(“ command.
  Range:   0 - 255
{ - Analog position lower limit
  Format:   {[value]
  Description:  This  command  sets  the  lower  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
} - 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 DPE25601.
  Range:   0 - 99 
						

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Section 6: Troubleshooting
Problem:
 Cannot establish communications with the DPE25601.
Possible Solutions:
  1) Make sure the DPE25601 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 DPE25601 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 DPE25601 controller.
  8) If problems still exist, contact Anaheim Automation Tech Support.
910 E Orangefair Lane
Anaheim, CA, USA
714-992-6990 714-992-0471, Fax www.anaheimautomation.com
[email protected]
Anaheim Automation Tech Support
Problem:
  There is no power to the DPE25601 controller.
Possible Solutions:
  1) Is the DPE25601 controller connected to the appropriate power supply?
  2) Check for any blown fuses in line with the DPE25601 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.