Anaheim Stepper DPC50501 Users Guide

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Current Program Filename
With the program tab sheet selected the user can obtain the current program fi lename, located in 
the lower left corner of the SMC50WIN window.  All programs created by the SMC50WIN software 
will have a .mdb extension.
SMC50 Memory Available
With the program tab sheet selected the user can obtain the amount of available memory, located 
in the lower right corner of the SMC50WIN window.  The controller has a maximum available 
memory of 2047 bytes - each instruction can use from 1 to 5 bytes.
Currently Selected Line
The currently selected line is indicated in the program by the right pointing arrow/triangle in the 
left column.
Clicking on any line will select a new currently selected line.
Add/Change/Insert Commands
Add command contains 2 different tab sheets, which are Motion Parameters and Program Pa-
rameters.
Motion Parameters Software section that allows user to enter speeds, positions, direction, etc.
Program Parameters Software section that allows user to manipulate looping routines, I/O, delays, etc. 
						

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Motion Command Tab Sheet
The motion command tab sheet controls the motion information of the motor such as Maximum 
Speed, Base Speed, Go Absolute, and etc.
•  It works similar to the Motion Tab Sheet explained above in the Getting Started section.
•  To add a line of motion control, select appropriate motion control from the list, then 
enter the required value for that particular action.  Then, click OK.
•  Comment is optional, for any lines of code.
•  The text box above the OK and Cancel buttons will display useful information about 
each command. 
						

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Accel/Decel Set program acceleration and deceleration parameter. (step/sec2)
Base Speed Set program base (start) speed rate. (step/sec)
Max. Speed Set program maximum (running) speed rate. (step/sec)
Set Position Set motor position.
Move____StepsRelative move command will allow motor to move the defi ned number of steps 
entered.
Move to Position Absolute move command will move motor to the position specifi ed.
Slew (Move Continuously)Command will initiate motion in the direction specifi ed until a limit switch or 
hard stop is triggered.
Repeat Last Move Command will repeat the previous motion command.
Home to Soft, Home LimitsCommand will initiate motion in the direction last entered seeking the soft input 
fi rst to slow the motor down to base speed, then to stop when the home limit is 
triggered.
Home to Home LimitCommand will initiate motion in the direction last entered seeking the home 
limit which will stop the motor, reverse the motor direction and stop when the 
home limit switch is no longer triggered.
Finish MoveCommand will allow any motion command to be completed before continuing. 
This command must be entered after every motion command.
Stop Motion Command will stop all motion of the motor.
Direction CCW Sets motor direction for counter-clockwise movement.
Direction CW Sets motor direction for clockwise movement.
Comment:Comments are always useful instructions or debugging methods to help keep 
the user informed as to what the program is executing at the specifi c line. 
						

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Goto The Goto command allows program to jump to specifi ed address.
LoopLoop allows a sequence of commands to be looped a specifi c number of times to an 
address, which is lower in value.  No nested loops are allowed.
If inputs match below then ex-
ecute next line, otherwise skip 
next lineThis conditional command allows the user to go to a specifi ed address in the program if 
the inputs triggered match the selected or checked input box.  If the inputs (1 through 4) 
do not match the next line is skipped.
Set OutputsThe outputs can be turned (on=1) or (off=0).  These outputs can be used to trigger PLC 
operations, relays, solenoids, etc.
Wait ____millisecondsThis command allows the user to enter a delay in milliseconds.  This wait command is 
useful for pausing the program from reading the next command.
Quit Program The quit command is a required function used only at the end of the program.
Comment:Comments are always useful instructions or debugging methods to help keep the user 
informed as to what the program is executing at the specifi c line.
Program Parameters 
						

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PPS -> RPS Convert from pulses per second to revolution per second.
RPS ->PPS Convert from revolution per second to pulses per second.
Steps Per RevEnter the number of steps per revolution of the step motor.  The default is for a 
200 step/rev motor in half step, which is equal to 400.
Close Exit Calculator.
Calculator 
						

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Direct mode is used to directly control the motion for real time movements through serial communication.  
The PCL501 has 20 commands which are easy to remember for direct movement of a step motor.
COM Port Settings
Baud Rate: Select one from the Baud Rate Selection chart in section 1.
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 unit) must be sent.
NOTE: There should be no spaces between the @ and address select.
How to select the unit:
@0  (Unit is selected)
@1  (Unit is selected)
@29  (Unit 29 is selected)
How to get a response from the unit:
@0$ (Carriage Return)
After the $ command, the controller will return a SMC50 + 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 
Section 4: Direct Talk Mode
Command Summary:
O - Set Outputs
P - Absolute Position
S - Go Slew
V - Verify
Z - Position
. - Stop Motion
+ - Clockwise Direction
- - Counterclockwise Direction
$ - Versions Number Register
! - Error Codes Register A - Acceleration/Deceleration
B - Base Speed
G - Go Number of Steps
H - Home
I - Read Inputs
J - Jog Speed
L0 - Get Limits Status
LS - Soft Limit Input Bit
M - Max Speed
N - Number of Steps 
						

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$ - Version Number Register
Format:   $
Description:  This command requests the controller to return the version number.
! - Error Codes Register
Format:   !
Description:  This command requests the controller to get the current error code and print 
it to the screen.
A - Acceleration/Deceleration
Format:   A[value]
Description:  This command sets the acceleration profi le which can be an integer value 
between 1 and 255.  The lower the value the faster the motor acceleration, so a 1 is the 
fastest profi le and 255 is the slowest.
Range:    1 - 255
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.
Range:    77 - 3500
M - Max Speed
Format:   M[value]
Description:  This command sets the maximum (running speed for motion.  This value 
must be set before motion begins and be greater then the base speed.
Range:    77 - 15000 
						

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J - Jog Speed
Format:   J [value]
Description:  This command sets the jog speed.  This value must be greater than the base 
speed.
Range:    77 - 15000
N - Number of Steps
Format:   N [value]
Description:  This command sets the number of clocks for the controller to send out fol-
lowing a G command.
Range:    0 - 8388607
G - Go Number of Steps
Format:   G
Description:  This command is used to send a set number of clocks out of the controller.  
An N or P command must be entered before the G command.
P - Absolute Position
Format:   P[value]
Description:  This command calculates and sets the number of steps necessary to move 
to the specifi ed position.  (N=P-Z)
Range:    -8388608 - 8388607
S - Go Slew
Format:   S
Description:  This command will send clocks out to the controller.  The only commands 
that can stop the clocks are; . (stop motion) or LS (soft limit).  Motion can also be stopped 
by using the limit switch inputs.  The ramp profi le is specifi ed by the B (base speed), M (max 
speed), and A (acceleration/deceleration) commands. 
						

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Z - Position
Format:   Z[number]
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:    -8388608 to +8388607
H - Home
Format:   H [binary]
Description:  This command sends clocks out of the controller until the home limit or the 
soft limit is active.  There are two types of homing available.
Home Types:  H0:  In type 0 homing, the controller will send clocks until a soft limit is    
        reached, then ramp down to base speed.  Clocks will continue until a
        home or hard limit is reached.
H1:  In type 1 homing, the unit will move until a home limit is reached, then 
    change directions, ramp down to base speed and stop upon release 
    of the home limit input.
. - Stop Motion
Format:   .
Description:  This command will stop all motion.  It can also be used to stop the current 
program that is running.
+ - Clockwise
Format:   +
Description:  This command sets the direction output to clockwise.
- - Counter Clockwise
Format:   -
Description:  This command sets the direction output to counterclockwise. 
						

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V - Verify
Format:   V[command]
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, F, J, M, N, 0, P, Z, and +.
O - Sets Outputs
Format:   O [value]
Description:  This command sets the outputs according to the binary value.  Output 1 is 
the LSB and output 2 is the MSB.
Range:    0 - 3
I - Read Inputs
Format:   I
Description:  This command returns the binary value of the inputs to the PC.  Since the 
inputs are pulled up internally, they will return a high when they are pulled low.  For example, 
if all inputs are active (grounded), the command will return a 15.  If all inputs are inactive 
(open), the command will return a 0.  Input 1 is the LSB, input 2 is the second bit, input 3 is 
the third bit, and input 4 is the MSB.
L0 - Get Limit Status
Format:   L0
Description: This command returns the binary value of the hard and soft in a binary format.  
The soft limit is the LSB and the hard limit is the MSB.
LS - Soft Limit Input Bit
Format:   LS
Description:  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 controller will 
continue to the set position and stop.  In a slew type motion the controller will ramp down 
and stop.