Anaheim Stepper 17MDSI Series Users Guide

							Program Window
Motion ProfileSelect motion profiles 1 or 2.
Send Accel/Decel Send the acceleration & deceleration parameter to the indexer. (steps/sec
2)
Send Base Spend Send the base speed parameter to the indexer. (steps/sec)
Send Max Speed Send the maximum speed parameter to the indexer. (steps/sec)
Send Index Number Send the index number parameter to the indexer. (steps)
Send Complete Time Send the complete time parameter to the indexer. (useconds)
Begin Index Motor will ramp up to maximum speed and keep moving until a limit comman\
d 
is received or the index is complete.
Soft Limit Motor will ramp down to base speed and continue running until the index \
is 
complete.
Hard Limit Stop any motor motion.
Direction Set direction to clockwise or counter-clockwise. 
Microstep Resolution Set microstep resolution to divide by 1, 2, 4, or 8.
Select Axis Set the axis in the software for the 17MDSI unit to communicate with.
Define Axis Sets the axis in the 17MDSI.
Verify Parameters Updates and displays controllers parameters and resets the error codes.
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							Direct Talk Mode
Direct mode is used to directly control the motion for real time movemen\
ts through serial com-
munication.  This mode is used mainly to program the parameters and for checking the move-
ment of the motor.  The 17MDSI Series has 16 commands which are easy to remember for direct \
movement of a step motor.
COM Port Settings
Baud Rate: 38400
Parity: None
Data Bits: 8
Stop Bits: 1
Flow Control:  Xon/Xoff
Unit Selection
In order to select a unit the @ command followed by 0 (address of the u\
nit) must be sent.
NOTE: There should be no spaces between the @ and the 0.
How to select the unit:
@0 (Unit is selected)
How to get a response from the unit:
@0$ (Carriage Return)
After the $ command, the pulse generator will return a SMSI40 + the curr\
ent version 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 neces-
sary to view characters, if characters are to be echoed back to the scre\
en.
Instructions
All instructions require that no spaces be sent between the command and \
the parameter followed 
by a carriage return.  The commands are also case sensitive and are all sent as capitals.
Command Summary:
A - Acceleration/Deceleration    T - Complete Time
B - Base Speed      V - Verify
G - Go (Index)      + - Clockwise Direction
H - Hard Limit      - - Counterclockwise Direction
M - Max Speed      $ - Version Number Register
N - Index Number            ! - Error Codes Register
R - Microstep Resolution          % - Verify Controller Address
S - Soft Limit      ~ - Set Controller Address
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							$ - Version Number Register
Format:  $
Description:  This command requests the 17MDSI to return the version number.
! - Error Codes Register
Format:  !
Description:  This command requests the 17MDSI to get current error code and print it to 
the screen.
+/- - Direction
Format:   + or -
Description:  This command sets the direction output.  A “+” sets the output to clockwise, 
and a “-” sets the output to counterclockwise.  This must be done when the indexer is not 
busy.  This value is not saved in the EEProm.
A - Acceleration/Deceleration
Format:   A#_[value] - where # is the motion profile number 1 or 2
Sample:   A1_10000 Accel of profile 1 equals 10000
Description:  This command sets the acceleration profile which can be an integer value 
between 100 and 9,999,999.  These values are saved in the EEProm for stand-alone use.
Range:    100 - 9,999,999
B - Base Speed
Format:  B#_[value] - where # is the motion profile number 1 or 2
Sample:   B2_500 Base Speed of profile 2 equals 500
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.  The pulses will ramp down 
to this speed after a soft limit is triggered and run at this speed until a hard limit is triggered\
 
or the index has finished.  These values are saved in the EEProm for stand-alone use.
Range:    1-5000
G - Go Index (Run)
Format:  G# - where # is the speed profile number 1 or 2
Description:  This command will send clocks out to the pulse generator.  The only com-
mand that can stop the clocks is H (stop motion).  The S (soft limit) command will make the 
pulses go from max speed to base speed.  Motion can also be stopped by using the on-off 
input but this will not stop the clocks, just remove power from the motor phases.  The ramp 
profile is specified by the B (base speed), M (max speed), and A (acceleration/deceleration) 
commands.
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							H - Hard Limit or Stop Motion
Format:  H
Description:  This command will stop all motion.  It can only be used when pulses are 
running.
M - Max Speed
Format:   M#_[value] - where # is the motion profile number 1 or 2
Sample:   M2_10000 Max Speed of profile 2 equals 10000
Description:  This command sets the maximum (running) speed for motion.  This value 
must be set before motion begins and be equal or greater than the base speed.  The motor 
will run at this speed until a soft limit or a hard limit is triggered.  These values are saved in 
the EEProm for stand-alone use.
Range:    1 - 50,000
N - Index Number
Format:  N#_[value] - where # is the motion profile number 1 or 2
Sample:   N1_10000 Index number of profile 1 equals 10000
Description:  This  command  sets  the  number  of  pulses  to  index  for  the  motion  profile.  
This value must be set before motion begins.  These values are saved in the EEProm for 
stand-alone use.
Range:    0 - 8,388,607
R - Microstepping Resolution
Description: This command enables the user to select the desired resolution for the mi-
crostepping driver.  Divisions for the driver are Full step (1), Half step (2), Quarter step (4), 
and Eighth step (8).  This value is saved in the EEProm for stand-alone use.
Format:   R# - Where # is 1, 2, 4, or 8
S - Stop Soft
Format:  S
Description:  This command will cause the indexer to ramp down to base speed and run 
until the index is complete or a hard limit is activated.  It can only be used when pulses are 
running.
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							T - Complete Time
Format:  T#_[value] - where # is the motion profile number 1 or 2
Sample:   T2_100 Complete time of profile 2 equals 100 uSeconds
Description:  This command sets the time for an active complete signal after the unit has 
finished indexing for the motion profile.  The number is entered as a microsecond.  This value 
must be set before motion begins.  These values are saved in the EEProm for standalone 
use.
Range:    0 - 1000
V - Verify
Description: This command can be used with most commands to verify the register con-
tents.  This is a read only command.  Valid commands are: A, B, D, M, N, R, T and +.
Format:   V[command]
      This format is good for R and +
    R -  If a 1 is sent back then the driver is in Full step mode.  If a 2 is sent back    
      then the driver is in Half step mode.  If a 4 is sent back then the driver is in   
      Quarter step if mode.  If an 8 is sent back then the driver is in Eighth step    
   mode.
    + - If a 1 is sent back then the direction is clockwise.  If a 0 is sent back then the 
      direction is counterclockwise.
Sample:   V+ Verification of Direction is prompted.
Format:   V[command]# - Where # is the speed profile number 1 or 2
      This format is good for A, B, M, N and T.
    A# -  Verify Acceleration/Deceleration for given speed profile.
    B# -  Verify Base Speed for given speed profile.
    M# - Verify Max speed for given speed profile.
    N# -  Verify Index number for given speed profile.
    T# -  Verify Complete time for given speed profile.
% - Verify Address Register
Format:   %    (No address is needed before this function. @% will return the address)
Description:  This command request the 17MDSI Series controller to return its internal 
address number to the PC or PLC.
~ - 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 17MDSI Series 
controller.
Range:    0 - 99
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							Visual Basic Direct Mode Programming Examples
Example 1: This Example is for Axis=0, and Profile=1DimConst DefaultTimeout As Single = 0.5 frmMain.MSComm1.Output = “@0A1_100000” & Chr$(13)  ‘SetAcceleration
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0B1_1000” & Chr$(13)  ‘Set Base Speed
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0M1_4000” & Chr$(13)  ‘Set Maximum Speed
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0N1_500” & Chr$(13)  ‘Set Index Number
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0T1_100” & Chr$(13)  ‘Set Complete Time
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0R8” & Chr$(13)    ‘Set Microstep Resolution
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0+” & Chr$(13)    ‘Set Direction CW
frmMain.MSComm1.Output = “@0G1” & Chr$(13)    ‘Start the Index
Pause DefaultTimeout
Example 2: This Example receives the error code and Version Number from Axis3
DimConst DefaultTimeout As Single = 0.5 frmMain.MSComm1.Output = “@3!” & Chr$(13) 
Pause ShortTimeOut
MsgBox RecieveAscii()
frmMain.MSComm1.Output = “@3$” & Chr$(13)
Pause ShortTimeOut
MsgBox RecieveAscii()
Function ReceiveAscii() As String ‘wait for the incoming data to get to the buffer
Dim BeginTime as Single
Dim A As  Integer
Dim B As IntegerBeginTime = Timer
While Main.MSComm1. InBufferCount = 0
 DoEvents
If Timer - BeginTime > 0.1 Then GoTo ExitRoutine1
Wend
A = 0: B = Main.MSComm1.InBufferCount
While A  B
 A = Main.MSComm1.InBufferCount
  Pause 0.02            ‘ Fixed time value
  B = Main.MSComm1.InBufferCount
Wend
ReceiveAscii = Main.MSComm1.Input
Exit Function
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							Troubleshooting
Problem:Can not establish communications with the indexer.
Possible Solutions:  1.  Make sure the indexer has power.  Is the Green LED on.
2.  Check RS485 connections.
3.  Check for loose cable connection either on the pulse generator or COM Po\
rt.
4.  Was the software installed successfully?
5.  Go to Setup│ Communication  Settings and verify COM Port settings.
6.  Click on Connect icon to communicate with the indexer.
7.  If problems still exist, contact Anaheim Automation Tech Support.
Problem: There is no power to the indexer.
Possible Solutions: 1. Is the Indexer connected to the appropriate power supply?
2.  Check for any blown fuses in line with the indexer.
3.  If problems still exist, contact Anaheim Automation at 714-992-6990.
Error Codes
Error TypeDescription
1 Receive Overflow 
Error The serial communications has a receiving error.  This is an internal 
error caused by the computer.
2 Range Error There was an invalid number of characters sent to the pulse genera
-
tor.  Check to see if the parameters are invalid for the command that 
was sent.
4 Command Error A bad command was sent to the pulse generator.  Please check to 
see that the command being sent is valid, or that the pulse generator 
is not running.
8 Transmit Error To many parameters sent back to the PC.  This is an internal error 
caused by the EEProm.
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 Zero Parameters 
Error There were no parameters sent to the pulse generator.  A command 
was sent to the pulse generator that expected to see parameters 
after the command.
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							Multiple Axes Setup for 17MDSI Series
1. Power up the 1st unit ONLY and connect the RS485 connection to the 1st unit.
2.  Click the “Define Axis” button and enter 0.
3.  Click the “Select Axis” button and enter 0.
4.  Under Setup menu click “Connect”.
5.  Text appears on top of the SMPG-SMSI Software “The Unit is connected” and the ver-
sion of the firmware is displayed as well.  This text should turn blue when connected.
6.  Under setup menu click “Disconnect”
7.  Text appears on top of the SMPG-SMSI Software “The Unit is NOT Connected”.  This 
text should turn red when disconnected.
8.  POWER  DOWN  and  Physically  disconnect  the  1st  Unit  from  both  power  and  RS485 
Connections.
9.  Power up the 2nd unit  ONLY and connect the RS485 connection to the 2nd unit.
10.   Click the “Define Axis” button and enter 1.
11.   Click the “Select Axis” button and enter 1.
12.   Under Setup menu click “Connect”.
13.   Text appears on top of the SMPG-SMSI Software “The Unit is Connected” and the ver-
sion of the firmware is displayed as well.  This text should turn blue when connected.
14.   Under Setup menu click “Disconnect”.
15.   Text appears on top of the SMPG-SMSI Software “The Unit is NOT Connected”.  This 
text should turn red when disconnected.
16.   POWER DOWN and Physically disconnect the 2nd Unit from both power and RS485 
Connections.
17.   For more then two units, continue steps 9 thru 16 increments the axis number for each 
unit.
18.   Now reconnect the power and RS485 connections to  ALL units.
19.   Power up ALL units.
20.   You should now be able to connect individually to any Axis with the RS485 converter 
from one Serial Port.  Use the “Select Axis” button to connect to each individual axis.
ASCII Table for Direct Mode
ASCII Symbol Hex ValueASCII 
Symbol Hex Value
Carriage Return 0DH48
0 30M4D
1 31N4E
2 32R52
3 33S53
4 34T54
5 35V56
6 36!21
7 37$24
8 38%25
9 39+2B
A 41-2D
B 42_5F
G 47~7E
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							ANAHEIM AUTOMATION
COPYRIGHT 
Copyright 2012 by Anaheim Automation. All rights reserved. No part of this publication may be reproduced, 
transmitted, transcribed, stored in a retrieval system, or translated in\
to any language, in any form or by 
any means, electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without the prior 
written permission of Anaheim Automation, 910 E. Orangefair Lane, Anaheim, CA 92801. 
DISCLAIMER
Though every effort has been made to supply complete and accurate information in this manual, the 
contents are subject to change without notice or obligation to inform the buyer. In no event will Anaheim 
Automation be liable for direct, indirect, special, incidental, or conse\
quential damages arising out 
of the use or inability to use the product or documentation.   
Anaheim Automation’s general policy does not recommend the use of its’ products in life support applications 
wherein a failure or malfunction of the product may directly threaten life or injury.  Per Anaheim Automation’s 
Terms and Conditions, the user of Anaheim Automation products in life support applications assumes all 
risks of such use and indemnifies Anaheim Automation against all damages.
LIMITED WARRANTY
All Anaheim Automation products are warranted against defects in workmanship, materials and construction, 
when used under Normal Operating Conditions and when used in accordance with specifications. This 
warranty shall be in effect for a period of twelve months from the date of purchase or eighteen months 
from the date of manufacture, whichever comes first.  Warranty provisions may be voided if products 
are subjected to physical modifications, damage, abuse, or misuse.
Anaheim Automation will repair or replace at its’ option, any product which has been found to be defective 
and is within the warranty period, provided that the item is shipped freight prepaid, with previous authorization 
(RMA#) to Anaheim Automation’s plant in Anaheim, California. 
TECHNICAL SUPPORT
If you should require technical support or if you have problems using any of the equipment covered by this 
manual, please read the manual completely to see if it will answer the q\
uestions you have. If you need 
assistance beyond what this manual can provide, contact your Local Distributor where you purchased the 
unit, or contact the factory direct.
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