Anaheim Stepper 23MDSI Series Stepper MotorDriverController Users Guide

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Program Window
Motion ProfileSelect motion profiles 1 or 2.
Send Accel/DecelSend the acceleration & deceleration parameter to the indexer. (steps/sec2)
Send Base SpeedSend the base speed parameter to the indexer. (steps/sec)
Send Max SpeedSend the maximum speed parameter to the indexer. (steps/sec)
Send Index NumberSend the index number parameter to the indexer. (steps)
Send Complete TimeSend the complete time parameter to the indexer. (useconds)
Begin IndexMotor will ramp up to maximum speed and keep moving until a limit switch\
 is triggered 
or the index is complete.
Soft LimitMotor will ramp down to base speed and continue running until the index \
is complete.
Hard LimitStop any motor motion.
DirectionSet direction to clockwise or counter-clockwise.
Microstep ResolutionSet microstep resolution to divide by 1, 2, 4, or 8.
Select AxisSet the axis in the software for which 23MDSI unit to communicate with
Define AxisSets the axis in the 23MDSI.
Verify ParametersUpdates 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 communication. This 
mode is used mainly to program the parameters and for checking the movement of the motor. The 23MDSI 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 SMSI30 + 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 hyp\
er terminal is necessary to view char-
acters, 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. The commands are also case sensitive and are all sent as capitals.
 
Command Summary:
A - Acceleration/Deceleration
B - Base Speed
G - Go (Index)
H - Hard Limit
M - Max Speed
N - Index Number
R - Microstep Resolution
S - Soft Limit
T - Complete Time
V - Verify
+ - Clockwise Direction
- - Counterclockwise Direction
$ - Version Number Register
! - Error Codes Register
% - Verify Controller Address
~ - Set Controller Address
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$ - Version Number Register
 Format :  $
 Description:  This command requests the 23MDSI to return the version number.
! -  Error Codes Register
 Format :  !
 Description:  This command requests the 23MDSI to get the 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 saved in the EEProm for stand-alone use.
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 mo-  
   tion 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 command 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 li\
mit switch        
inputs. The ramp profile is specified by the B (base speed), M (max speed), and A (accel      
eration/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 m\
icrostep  ping    
   driver.  Divisions for the driver are Full step (1), Half step (2), Quarte\
r 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 siganal after the unit has finished 
      indexing  for  the  motion  profile.  The  number  is  enterd  as  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 conte\
nts. 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 ste\
p 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 bac\
k 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/Decceleration 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 requests the 23MDSI Series controller to return its internal address num-
ber         to the PC or PLC. 
~ - Set address  register
 Format : ~[value]  (No address is needed before this function. @~[value] will set the addr\
ess)
 Description:  This command sets the address for communication inside the 23MDSI 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=1
   DimConst DefaultTimeout As Single = 0.5
  frmMain.MSComm1.Output = “@0A1_100000” & Chr$(13)  ‘Set Acceleration
 Pause DefaultTimeout
 frmMain.MSComm1.Output = “@0B1_1000” & Chr$(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$(13)   ‘Set Direction CW
 Pause DefaultTimeout
 frmMain.MSComm1.Output = “@0G1” & Chr$(13)    ‘Start the Index
 Pause DefaultTimeout
Example 2: This Example recieves the error code and Version Number from Axis3
  Dim Const DefaultTimeout As Single = 0.5
  frmMain.MSComm1.Output = “@3!” & Chr$(13)
 Pause ShortTimeOut
 MsgBox ReceiveAscii()
 frmMain.MSComm1.Output = “@3$” & Chr$(13)
 Pause ShortTimeOut
 MsgBox ReceiveAscii()
  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 Integer
 BeginTime = 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 RS232 connections.
 3) Check for loose cable connection either on the pulse generator or CO\
M Port.
 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.
 9) 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.
Problem:
 The indexer has a fault condition.
Possible Solutions:
 1) To clear an error use either the SMPG-SMSI software or the direct mode co\
mmand.
 2) The SMPG-SMSI software can clear an error in the motion tab section by c\
licking on the Verify 
     Parameters button.
 3) The direct mode command “!” can clear an error by prompting indexe\
r to serially send the error code   
    back to the user. 
 Example: @0!  (carriage return)
 Description: Address the unit by typing @ followed by a 0 (address number) an ! (Error Codes Register)  
 and a carriage return.
 Note: The error code is returned in binary coded decimal format. If two errors were received their binary  
 values would be added together.
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Error CodeTypeDescription
1Recieve Overflow ErrorThe serial communications had a recieving error. This is an internal error caused by 
the computer.
2Range ErrorThere was an invalid number of characters sent to the pulse generator. Check to 
see if the parameters are invalid for the command that was sent.
4Command ErrorA bad command was sent to the pulse generator. Please check to see that the com-
mand being sent is valid, or that the pulse generator is not running.
8Transmitt ErrorTo many parameters sent back to the PC. This is an internal error caused by the 
eeprom.
16Motor ErrorMotor 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 range\
s.
32Zero Parameters ErrorThere were no parameters sent to the pulse generator. A command was sent to the 
pulse generator that expected to see parameters after the command.
Error Codes
ASCII SymbolHex 
ValueASCII SymbolHex 
ValueASCII SymbolHex 
ValueASCII SymbolHex 
Value
Carriage 
Return0D636H48!21
030737M4D$24
131838N4E%25
232939R52+2B
333A41S53-2D
434B42T54_5F
535G47V56~7E
ASCII Table for Direct Mode
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Multiple Axes Setup for 23MDSI 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 version 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 version 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 an\
d RS485 Connections.
17. For more then two units, continue steps 9 thru 16 incrementing the a\
xis 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.
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Copyright
Copyright 2005 by Anaheim Automation. All rights reserved. No part of this publication may be reproduced, trans-
mitted, transcribed, stored in a retrieval system, or translated into any language, in any form or by any means, 
electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without the prior wri\
tten permission 
of Anaheim Automation, 910 East Orangefair Lane, CA, 92801. The only exception to this would be use of the 
program examples in this manual.
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 consequential damages arising out of the use or inability to use 
the product or documentation.
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 the products are subjected to physical 
damage or abuse.
Anaheim Automation will repair or replace at its option, any of its products which have been found to be defective 
and are within the warranty period, provided that the item is shipped freight prepaid, with RMA (return material 
authorization), to Anaheim Automation’s plant in Anaheim, California.
Trademarks
Control Link and Driver Pack are registered trademarks of Anaheim Automation.
IBM PC is a registered trademark of International Business Machines, Inc\
.
ANAHEIM AUTOMATION
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