Anaheim Discounted Package PKG231DPY56CBL User Manual

31
Section 5: Direct Talk Mode
Direct mode is used to directly control motion for real time movements through serial communication. The 
DPY50601 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...

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...

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...

34
G - Go number of steps
 Format:  G
  Description:  This command is used to send a set number of clocks out of the DPY50601    
      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...

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...

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 DPY50601 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...

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 DPY50601 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...

38
% - Verify address  register
 Format : % (No address is needed before this function. @% will return the address)
  Description:  This command requests the DPY50601 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...

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...

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”...