Anaheim Stepper 23MDSI Series Stepper MotorDriverController Users Guide

							1
910 East Orangefair Lane, Anaheim, CA 92801
e-mail: [email protected]
(714) 992-6990  fax: (714) 992-0471
website: www.anaheimautomation.com
ANAHEIM AUTOMATION
23MDSI Series Stepper Motor/Driver/ControllerUSER’S GUIDE
• Stepper Motor / Microstep Driver / Controller
• Eliminates Motor Wires
• Encoder Options Available
• Microstep Divisors of 8, 4, 2, or Full Step
• Compact Package
• 12-24V Power Requirement
• RS485 Communications
• TTL Logic or 24V Level Inputs Available
• Ideal for Precise Positioning
• 0.225o Resolution at Eighth Step
• Efficient and Durable
• Long Life Expectancy
The 23MDSI Series has a compact construction that integrates a simple indexer/controller, microstepping driver 
and a stepper motor in one streamline package. With the three parts combined into one casing, the need to 
include motor wires has been eliminated. The high-torque step motor can generate up to 230 oz-in of torque. 
The microstepping driver will operate off 12VDC minimum to 24VDC maximum with a maximum power intake 
of 40W. The inputs are capable of running from either open collector, TTL level logic outputs or 24VDC outputs 
from PLCs and are all active low. The microstepping driver features resolutions from 200 - 1600 steps/revolution, 
providing smooth rotary operation. The 23MDSI Series comes in either a single shaft version or a double sha\
ft 
version with optional encoder. Motor stack lengths of 1/2, 1, 2, or 3 allow for varying amounts of start-up torque, 
dynamic torque and inertia. The 23MDSI Series features built in over temperature and short circuit shut down 
protection. It also has automatic 70% reduction in stepper motor current after indexing is complete and status 
LED’s to indicate power on (green LED) and motor running (yellow LED).
June 2007#L010273  
						

							2
Control Inputs (Pins 4, 5,6,7):
Input 1,2: Logic “1” (Open) = Not Active
      Logic “0” (0VDC) = Active
Direction: Logic “1” (Open) = CW
      Logic “0” (0VDC) = CCW
On/Off: Logic “1” (Open)  = On
   Logic “0” (0VDC)  = Off
Limit Inputs (Pins 8,9):
Limits: Logic “1” (Open) - Not Active, Motor Running
 Logic “0” (0VDC) - Active, Motor stops in given Direction
Note:
Open Inputs are inactive and internally pulled up to +5VDC for all 23MDS\
I models
Control Outputs (Pin 10):
Output 1: Open Drain Type Output, Vce (max) = 40VDC, Ic (max) = 50mA
     This output will conduct current when active, and be open when not activ\
e. Current needs to be    
    limited into this pin. For the 23MDSI Series, this output is a compl\
ete output.
INPUT PIN DESCRIPTIONS
Pin #Description
1RS485 B(+)
2RS485 A(-)
3RS485 Gnd
4Input 1
5Input 2
6On/Off
7Direction In
8Hard Limit +
9Hard Limit -
10Ouput 1
1112VDC-24VDC
120VDC (Gnd)
Encoder Pin Descriptions
Pin #DescriptionCBL-AA4032 Wire Color
10VDC (Gnd)Brown
2Index (Optional)Red
3Channel AOrange
4+5VDCYellow
5Channel BGreen
June 2007#L010273  
						

							3
Dimensions
ModelLengthModelLengthModelLength
23MDSI006S-00-002.914”23MDSI006D-04-002.914”23MDSI006D-10-002.914”
23MDSI106S-00-003.504”23MDSI106D-04-003.504”23MDSI106D-10-003.504”
23MDSI206S-00-004.292”23MDSI206D-04-004.292”23MDSI206D-10-004.292”
23MDSI306S-00-005.828”23MDSI306D-04-005.828”23MDSI306D-10-005.828”
Hook-Up Drawings
June 2007#L010273  
						

							4
Accessories Ordering Information
Part NumberDescription
PSAM24V2.7A24V @ 2.7A Universal Input Power Supply
PSAM24V1.2A-5V3.5A24V @1.2A and 5V @ 3.5A Univeral Input Power Supply
CBL-AA40325 Pin Encoder Connector with 12” Leads
CON-64044055 Pin Connector with 0.100” Centers (Amp #640440-5)
485SD9TBPort Powered RS232-RS485 Converter
AA9MFC-66 Foot Male to Female Serial Cable
Ordering Information - Use the chart to create your specific part number
Model SeriesMotor LengthShaft OptionsEncoder OptionsSpecial Options
23MDSI106S-00-00
006, 106, 206, 306
S - Single-Shaft, D - Double-Shaft with Optional Encoder Mounted
-00 - No Encoder, -04 - 400 Line Encoder, 
-10 - 1000 Line Encoder
Other options will be made available as requested
-00 Standard Product
Other options will be created 
as needed
June 2007#L010273  
						

							5
Inputs and Outputs
Inputs: All inputs are pulled up to 5VDC. A logic “0” activates inputs that are pulled up. An unconnected input will 
always remain inactive.
Direction: When this input is not active, the motor will be moving in the clockwise or “+” direction. When this 
input is active, the motor will move in the counterclockwise or “-“ direction. This input is not read when a software 
index command is given. To change direction while using the software, change the direction option there.  When 
two motors are used, the second motor will move in the opposite directio\
n by default.
On/Off: When this input is not active, the motor will be enabled or energized. When this input is active, the motor 
will be disabled or de-energized.
Input 1,2: These inputs are used to select one of the two profiles. When one of the profiles is activated, the unit 
will change the speeds, acceleration, index number and complete time bas\
ed on the pre-programmed values for 
that profile and begin the index. Activate only one of these inputs at once. 
Hard Limits: These two inputs are controlled by the direction of the indexer. When the indexer is running in the 
positive direction only hard+ will work. When the indexer is running in the negative direction then only hard- will 
work. When pulled low the indexer will stop all pulses to the motor. To reverse off of a Hard Limit, change directions, 
and activate another profile input again to move in the opposite direction.
Output 1 (Complete Output):  This is an open collector output that is capable of sinking 50mA. It is current 
sinking when the indexer finishes its index cycle for the pre-programmed amount of time.
Microstep Modes
The  microstepping  modes  are  set  by  using  the  software  when  the  profiles  are  being  setup.  The  ranges  of 
microstepping are 200, 400, 800, and 1600 steps per revolution in a 200 step/revolution step motor. To set the 
divisor just select the divisor wanted (1,2,4, or 8).
Reducing Output Current
Reducing the output current is accomplished automatically. The amount of current per phase in the reduction 
mode is approximately 50% of the set motor current. When the current reduction circuit is activated, this lowers  
the per phase output current. This is done when the indexer is not running.
LEDs
When powered and operated properly, the status LED will be green.  When an error occurs, the LED will change 
to RED and an error code will be generated in the error code register.  To read and clear the error with the soft-
ware, click on the “Verify Parameters” button. To read and clear the error while in “Direct Mode” use the “!” com-
mand. Once the error has been read and cleared, the LED will return to g\
reen and the error code register will be 
cleared. Refer to the table in section 5 for a list of the error codes. When the \
indexer is running the yellow LED 
will be on. Refer to the dimension drawing for location of the LEDs. For more detail on “Direct Mode” refer to the 
Direct Talk Mode section of user’s guide.
June 2007#L010273  
						

							6
Terminating Resistor
To eliminate noise on the transmission lines or  when using a 4000 ft. cable, a terminating resistor is suggested. 
If used, the termination resistor need only be added to the last (furthest from the RS485 converter box) 23MDSI 
Series motor/driver/controller on the network between pins A(-) and B(+) on the terminal block. The value of this 
resistor should be 120 ohms.
Axis Selection
Each 23MDSI Series motor/driver/controller is addressed using a programmable register allowing the PC to ad-
dress up to 99 units from one serial port. The Default axis is “0”. To change the axis, use the SMPG-SMSI software 
or the “~” command. To verify or check the axis, use the software or the “%” command. The axis designation is 
nonvolatile and will remain the same until changed by the user.
Baud Rates
The 23MDSI Series only accepts a baud rate of 38400. A baud rate is a term used frequently in serial data com-
munications. A “baud” is defined as the reciprocal of the shortest pulse duration in a data word signal, including 
start, stop, and parity bits. This is often taken to mean the same as “bits per second”, a term \
that expresses only 
the number of “data” bits per second. Very often, the parity bit is included as an information or data bit.
RS485 Protocol
The 23MDSI Series uses a RS485 protocol for communication. The RS485 protocol mode is as follows; On board 
receivers  will  remain  in  active  mode  indefinitely.  Transmitters  must  be  turned  off  when  the  unit  is  not  sending 
data, to prevent the line from sending and receiving data at the same time. Therefore when the PC is transmitting 
data its driver will be turned on and each of the units connected will h\
ave their drivers off. If they are requested to 
send data back to the PC, the selected unit will turn it’s driver on to send the data and then turn it off after it has 
completed transmission. Note: The above protocol is done internally between the converter and the 23MDSI Series. 
The RS485 method of communication allows increased noise immunity and increased communication distance 
of up to 4000 feet without repeaters. RS485 repeaters allow an additional 4000 feet per repeater. The 23MDSI 
Series is designed for two wire configuration. The 2 wire configuration makes use of the tristate capabilities of 
RS485 to allow a single pair of wires to share transmit and receive signals for half duplex communications. This 
“two wire” configuration (note that an additional ground conductor must be used) reduces cabling cost. NOTE: 
Keep control wiring separated from motor cable/wiring.
RS232 to RS485 for multiple units or cables longer than 50ft
The 23MDSI Series can be connected to your PC serial port via a RS485 converter (model number: 485SD9TB 
sold separately). This converter will convert the RS232 voltage signals to the compatible RS485 differential signals. 
Only one converter box is needed per serial port. Contact the factory or use the website www.anaheimautomation.
com for RS485 converter information and sales.
June 2007#L010273  
						

							7
A) A Profile input is activated; Ramps up to max speed.
B) No limit is active; Max speed is reached (keeps running at max spee\
d).
C) No limit is active; Internal counter signals to ramp down to base sp\
eed.
D) Internal Counter is complete; Base speed is reached. Pulses stop. Co\
mplete Output is set.
ABC
Max Speed
Base Speed
Off
Time
Speed
ABCD
Max Speed
Base Speed
Off
Time
Speed
Normal Operation
A) A Profile input is activated; Ramps up to max speed.
B) No limit is active; Max speed is reached (keeps running at max spee\
d).
C) Hard limit is activated; Pulses stop. Complete Output is set.
Hard Limit Activated During Index
Motion Profiles and Running the Indexer
The programmable simple indexer has the ability to store two different motion profiles. The profiles include a base 
speed (starting speed), a maximum speeds (running speed), acceleration/deceleration, and a number of steps 
(index) number. The base speed has a range of 1-5000 Hz, the maximum speed has a range of 1 Hz-50 kHz, the 
acceleration/deceleration has a range of 100 to 9,999,999 steps/sec2 and the index has a range of 0-8,388,607 
steps.
There are “two ways” to get the unit to index: Examples are shown \
on the next page.
1) The first way is to directly control it from the computer with the software provided. Once the motion profiles 
have been set, the unit is ready to index. From the software, the user can select which profile to run and then click 
the begin index button. If a soft limit command is sent or a soft limit input is activated, then the unit will immediately 
ramp down to base speed and continue running until the index has completed. To stop all motion before the index 
has completed, a hard limit command needs to be sent or a hard limit inp\
ut must be activated.
2) The second way to make the unit run is to activate the individual index input. When an index input is 
activated,  it  selects  from  memory  the  speed  profile  that  was  selected.  If  a  soft  limit  input  is  activated,  then  the 
unit will immediately ramp down to base speed and continue running until the index has completed. To stop all 
motion before the index has completed a hard limit input must be activat\
ed.
June 2007#L010273  
						

							8
Functions
Hard Limit Switches: When a hard limit switch is encountered, the pulses will stop. Hard limits are intended as 
either a home position or an emergency stop for your system.
Profile Inputs: These inputs are used to select and begin the specified motion profile. Only 1 input should be 
activated at a time.
Motion  Profiles:  The  indexer  will  accept  up  to  two  different  speed  or  motion  profiles.  Each  profile  has  it  own 
programmable Accel/Decel, Base speed, Max speed, Index distance value and Complete time. Theses values 
are stored in EEProm for stand-alone use and must be programmed before t\
he indexer is ran.
Acceleration/Deceleration: The acceleration and deceleration are by default the same value. This function 
controls the time that the motor will take to move from base speed to max speed. The higher the value, the faster 
the motor will accelerate. The same principal applies for the deceleration which is controlling the time it takes to 
go from maximum speed to base speed. The higher the value, the faster the pulses will decelerate. The different 
accel/decel profiles are stored in EEprom for stand-alone use. (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops. It is entered directly as the number 
of steps per second. This speed must always be less than the max speed. The different base profiles are stored 
in EEprom for stand-alone use. (Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the pulses to run at. This speed must always be 
equal or greater than the base speed. It is entered directly as the number of steps/second. The different max 
profiles are stored in EEprom for stand-alone use. (Range: 1 to 50,000)
Index Number: The index number is the number of steps that the motor will take when the motion profile starts. 
It is entered directly as the number of steps to take. The different index profiles are stored in EEporm for stand-
alone use. (Range: 0 to 8,388,607)
Direction Input: If this input is open then the unit will be running in the clockwise direction. If this input is active 
then the unit will be running in the counterclockwise direction. This pin can be overridden by the programmable 
software direction. It will activate the direction output when the pin is changed. This means, that if you start the 
profile from the software, the unit will look at the software direction. If you start the indexer from the inputs, then 
the unit will look at the direction input.
Complete Output:  This is an open collector output that is capable of sinking 50mA. It is current sinking when 
the indexer finishes its index cycle for the pre-programmed amount of time. The time is entered as microseconds. 
(Range: 1 to 1000)
June 2007#L010273  
						

							9
SMPG-SMSI Software
The SMPG-SMSI software is a handy utility that supports Anaheim Automation’s programmable pulse generators 
and simple indexers.  Connecting your PC to the 23MDSI Series stepper motor/driver/controller, via RS485, the 
software can easily perform the following tasks:
 • Exercise and monitor the 23MDSI Series stepper motor/driver/controller
 • Directly communicate with the 23MDSI Series stepper motor/driver/contro\
ller
Installation
 Software 
  • The SMPG-SMSI software is supplied on a CD, containing  the setup program and the software
  • SMPG-SMSI  software is compatible with all versions of Windows includin\
g Windows 2000 
     and Windows XP
 Windows 3.x Installation
   1) Insert the CD into the drive
   2) From the Program Manager select File | Run
  3) Enter D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
 Windows 95/98/NT/ME/2000/XP Installation
     Option 1
    1) Insert the CD into the drive
   2) On the Windows Taskbar select Start | Run
  3) Enter D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
      Option 2
    1) Open Windows Explorer
   2) Open CD Drive Folder (D: or E:)
   3) Double click the Setup Icon
Getting Started
 1) Double click on the SMPG-SMSI icon to run the software.
 2) Apply power to the 23MDSI unit.
 3) Set the appropriate communication setting by selecting Setup | Communication Setting from the 
menu          bar.
 4) Establish communications with the 23MDSI by clicking on the Connect \
Icon, or select 
     Setup | Connect. If the unit is connected properly, the program will notify you when communication 
has          been established and the correct programming tab will be enabled to let you work with the unit.
June 2007#L010273  
						

							10
ExitExit the SMPG10WIN software
ConnectEstablish communications with the controller.
DisconnectDiscontinue communications and release the comport for use by other 
devices.
Communication Settings...COM port Selection (Ports 1, 2, 3, 4, 5, 6 or 7)
Toolbar
ExitExit the SMPG-SMSI software.
ConnectEstablish communication with the controller.
June 2007#L010273