Anaheim Stepper DPD60401 Users Guide

SECTION 8COMMAND DESCRIPTIONS41 BRANCH QUIT COMMAND
The BRANCH QUIT command will cause the program to stop execution of the associated program
(Main Program, Program 1, 2, or 3).LineCommandParameter 1Parameter 2Comments1Branch QuitRETURN COMMAND
The Return Command will cause the program to return to the line below the last Gosub Command
that was issued.  The return command must be used in conjunction with the Gosub Command or
an error will occur.LineCommandParameter 1Parameter 2Comments1ReturnWAIT DELAY...

SECTION 8COMMAND DESCRIPTIONS42 START/ STOP COMMANDS
This grouping of command pertains to functions that will Start and Stop the Motion.  All axis motion
begins at the specified Base Speed and then ramps up to Max Speed.  If the motion is definite, the
axis will then ramp from Max Speed down to Base Speed to complete the move.  Setting Motor
Base, Max, and Ramping Speeds is discussed in the Motor Parameter Command Section.
GO ABSOLUTE COMMAND
This Command is a move-to-position command meaning that it...

SECTION 8COMMAND DESCRIPTIONS43 SLEW COMMAND
This Command will cause the motor to move continuously in the direction specified by a Direction
Command.LineCommandParameter 1Parameter 2Comments1X Dir -2X SlewSTOP HARD COMMAND
This Command will cause the motion to stop immediately without any ramping down.  If the Motor
was moving at speeds higher than what it can reliably start and stop at, it is likely that the Motor
will not be at the position that the Position Register reads.CommandParameter 1Parameter...

SECTION 8COMMAND DESCRIPTIONS44 MOTION PROFILE
The Motor Commands are those commands that affect the motion of the Motor.  These commands will set
the position that the motor is at, the distance it is to travel, the speed at which it will travel, and how long
current will remain in the motor after it has stopped.
BASE SPEED COMMAND (1 to 2,500,000)
This Command will determine the speed at which the Motor starts at.  Step Motors can go from
rest immediately to a speed in the motors start/stop region which...

SECTION 8COMMAND DESCRIPTIONS45 ACCEL/DECEL COMMAND( 1 - 1,000,000 )
This defines the acceleration/deceleration (or ramping) of the motor.LineCommandParameter 1Parameter 2Comments1X Accel/Decel500SPEED LIMIT COMMAND
This Command sets the limit for the Base Speed and the Max Speed.  The Default value is 20,000.
This should always be kept at the highest speed that the motor would ever be run at.
SLOW JOG SPEED COMMAND
This Command presets the Run Speed when the users sets the Slow Jog+ or Fast Jog- to...

SECTION 8COMMAND DESCRIPTIONS46 OUTPUT COMMANDS
SET OUTPUT COMMAND
This will Activate or Deactivate any of the 24 Outputs.  Select only the Outputs that are going to be
changed, and leave the other Outputs as Don’t Cares(n/c). The SMC40 has 24 programmable
open-collector out puts.  When an open-collector is set ON, the voltage reading is about 0.7Vdc.
When the output is set OFF, the reading is an OPEN.  Note: Only five outputs can be turned on
per line. The following command line can be repeated to turn...

SECTION 8COMMAND DESCRIPTIONS47 1User EntryR1=RV2User EntryR2=R1+1USER ENTRY COMMANDS (CONTINUED)
PROGRAM 1, 2, 3
Start Program 1, 2, 3
When the Menu Item Program Start is executed, it starts only the Main Program. To start
Program 1, the Command is XPA=1, to start Program 2, the Command is YPA=1, and to
start Program 3, the Command is ZPA=1.
Example: To Start Program 1LineCommandParameter 1Parameter 2Comments1Start Program 1Stop Program 1, 2, 3 (Stopping a Program)
When the Menu Item Program Start is...

SECTION 8COMMAND DESCRIPTIONS48 ENCODER COMMANDS
ENCODER AUTOCORRECT ( Enable/ Disable)
This Command will set the Encoder Autocorrection Bit.  A 1 will cause the Autocorrection feature to
be enabled, and a 0 will cause it to be disabled.  If the Autocorrection feature is enabled, after the
completion of a move, the Encoder Register will be verified to see if it is in the correct position. If it
is not, a correction move will be implemented. See Encoder Retries.
Note: Anytime the ER register, EP register,...

SECTION 8COMMAND DESCRIPTIONS49 ENCODER RATIO (EM)
This Command will set the Ratio between the Motor and the Encoder. The ENCODER RATIO
register is the conversion factor from 1 motor step to 1 encoder quadrature pulse for the
associated indexer - this accounts for any gearing mechanism between the motor and the
encoder.
Note: Anytime the ENCODER RATIO (EM ) register is written to, the Encoder AutoCorrection
feature is disabled to prevent  spontaneous Motor Errors - hence it will need to be re -
enabled....

SECTION 9DIRECT PROGRAMMING50 SECTION 9 – DIRECT PROGRAMMING
ALPHABETIC QUICK
REFERENCE LIST
COMMAND TYPECOMMANDDESCRIPTIONMOTIONMAMotor Accel/Decel [X/Y/Z]PROFILEMBMotor Base Speed [X/Y/Z]
MMMotor Max Speed [X/Y/Z]
MSMotor Speed Limit [X/Y/Z]
MFMotor Fast Jog Speed [X/Y/Z]
MJMotor Slow Jog Speed [X/Y/Z]
HTHome Type [X/Y/Z]
D-Motor Direction -
D+Motor Direction +
MNMotor Number [X/Y/Z]
MPMotor Position [X/Y/Z]
START/STOPGAGo Absolute [X/Y/Z]MOTIONGHGo Home [X/Y/Z]
GRGo Relative [X/Y/Z]
GSGo Slew [X/Y/Z]...