Anaheim Discounted Package PKG342DPNPSCBL User Manual

							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.