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 COMMAND
This Command sets the Delay Register, and waits for the time specified to expire before
continuing to the next line in the program.  The Value is in 1/1000 of a second, meaning that a
value of 1000 is 1 seconds.  The below example would begin moving 1000 steps.  After the start of
the motion, 1 seconds would need to expire before the output is turned on.  Value(s) of 1 - 60000
equivalent to  .001seconds  - 60seconds is the usable delay range per line.LineCommandParameter 1Parameter 2Comments1Go Relative10002Wait Delay10003Set OutputsON:1,FOR LOOP
The For Loop Command is separated into two sections where the Top Loop Identifies the top
section of the looping command for a pre-selected number of times.LineCommandParameter 1Parameter 2Comments1Loop Top Start4 Times            The Bottom Loop Identifies the bottom section of the looping command in order to close the loop.LineCommandParameter 1Parameter 2Comments10Loop Bottom Start 
						

							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 will move to the position specified.
For instance, in the below example it will cause the motor to go to position 0. If the Motor Position
is at 2500, the Go Absolute Command of 0 will move to the position and the Direction Register
would be 0 (CCW Direction).LineCommandParameter 1Parameter 2Comments1X Go Absolute0GO RELATIVE COMMAND
This Command is a move-a-distance command meaning that it will move the distance set  in the
Go Relative Command.  For instance, in the example below it will cause the motor to go 1000
steps in the CCW directionLineCommandParameter 1Parameter 2Comments1X Dir -2X Go Relative1000HOME COMMAND
This Command will cause the motor to move continuously in the direction specified by a Direction
Command until a Home limit switch is hit. (Refer to the HOME TYPE COMMAND for Home Types
available.)LineCommandParameter 1Parameter 2Comments1X Dir -2X Home0HOME TYPE COMMAND
This Command specifies the type of Homing that will be executed when a Home Command is
executed. There are 3 types of Homing.
Home Type 0
This will rotate continuously in the appropriate direction and speed until a Soft
Limit Switch is active.  It will then Ramp Down to Base Speed, and then Stop when
the Home Limit Switch is active.
Home Type 1
This will rotate continuously in the appropriate direction and speed until a Home
Limit Switch is active.  It will then Ramp Down to Base Speed, Stop and instantly
reverse direction.  It will then continue in this reversed direction and then Stop
when the Home Limit Switch is once again inactive.  This will stop on the ‘negative
edge’ of the switch only, so the switch can be passed on ramp down and then hit
again in the reverse direction stopping after it comes off the switch.  This is most
useful for taking backlash out of a leadscrew.
Home Type 2
This will rotate continuously in the appropriate direction and at Base Speed until a
Marker Pulse is active.  This is typically called Channel Z from an encoder.
Although the intent of this Homing is for use with an encoder, it is not limited by it.
A simple switch will work as well. 
						

							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 2Comments1X Stop HardSTOP SOFT COMMAND
This Command will cause the motion to stop immediately after ramping down. This causes the
Motor to ramp down to Base Speed before stopping.  This gentler way of stopping is not likely to
cause positioning errors like the Stop Hard Command would.CommandParameter 1Parameter 2Comments1X Stop SoftWAIT MOTOR COMMAND
This Command waits for the Motor to stop moving before continuing to the next line in the
program.LineCommandParameter 1Parameter 2Comments1Go Relative10002Wait Motor3Set OutputsON:1, 
						

							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 varies from motor to motor.  This
is similar to a Ski-Lift taking skiers up to the top of a mountain. The lift is traveling at a certain
speed and the skiers attach themselves to the lift (usually by sitting down) and instantly are going
the Ski-Lifts velocity.  A step motor can start from rest in a similar fashion, and this starting speed
is called the Base Speed.LineCommandParameter 1Parameter 2Comments1X Base Speed500CURRENT HOLD COMMAND
This Command specifies that current in the motor can be turned OFF=0 or ON=1 during the
program execution. The example holds current off in the X-axis motor after a motion is completed.LineCommandParameter 1Parameter 2CommentsX Current Hold0DIR- COMMAND
This command will cause the Direction Register to be 0, and will cause motion to take place in the
Counter Clock Wise Direction.
DIR+ COMMAND
This command will cause the Direction Register to be 0, and will cause motion to take place in the
Clock Wise Direction.
MAX SPEED COMMAND (1 to 2,500,000)
This Command will determine the speed at which the Motor ramps up to from the Base Speed.  To
go speeds over 20,000 steps/second, the Speed Limit Command must be used.  This is to protect
Half-Step Drivers that can be damaged at speeds above 40,000 steps/second.LineCommandParameter 1Parameter 2Comments1X Max SpeedPOSITION COMMAND (-8,388,607 - +8,388,608)
This Command is used to set the Position Register.  When the unit is powered up, the Position
Register will initially be 0.  When a move takes place, like a Go Relative 1000 in the CW Direction,
the Position Register will count up from 0 to 1000 as the move takes place.  If a subsequent move
takes place, the Position Register will then count up from 1000 to 2000.  This Register will always
keep track of where the motor was instructed to be.  Remember if the motor stalls for some reason,
this register will not reflect the true position of the motor.  For a close loop system, an encoder
must be used. The sample below will home your system, wait for the motor to stop running then
sets the position register equal to zero.LineCommandParameter 1Parameter 2Comments1X Home12Wait Motor3X Postion0 
						

							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 0VDC.
This function is usually used to  manually position the motor.
FAST JOG SPEED COMMAND
This Command presets the Run Speed when the users sets the Fast Jog+ or Fast Jog- to 0VDC.
This function is usually used to  manually position the motor. 
						

							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 more than five outputs when
required.LineCommandParameter 1Parameter 2Comments1Set OutputON:1,2,10,18OFF:5,6,12,20In this example SET OUTPUT
sets outputs 1,2,10, and 18 ON.
On the same command line,
outputs 5, 6,12,and 20 are set
OFF.  Note, that a SET
OUTPUT command might be
used with a conditional IF
Statement.
WARNING: Always use a Diode (Motorola 1N4002 or Equivalent) to clamp any Inductive Loads (Relays,
Solenoids, etc.) due to fly back voltages. Refer to Specifications for further information.
USER ENTRY COMMANDS
USER ENTRY COMMAND
This Command allows any Commands to be entered that the Software does not directly support.
See the Direct Programming Guide discussed in this manual, and the SMC40.WRI Document on
the Intelligent Indexer Disk for more information.
Register Manipulation
The Read Value (RV) Register will read a value and temporarily store it. Note that any
register comparison that needs to be evaluated may need to be stored into a defined
Register (R1- R99) to avoid losing the stored number. NOTE: The  “IF THEN” Command
may compare Register to a known value without having to reassign it but you may lose the
RV Register value if any MATH or other Read Values Commands are in your program.
Example: Load the register value RV into R1 and increment register R2 using Math
Equations.LineCommandParameter 1Parameter 2Comments 
						

							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 executed, it starts only the Main Program. To stop
Program 1, the Command is XPA=0, to stop Program 2, the Command is YPA=0, and to
stop Program 3, the Command is ZPA=0.
Example: To start Program 1LineCommandParameter 1Parameter 2Comments1Stop Program 1 
						

							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, EW register, or the EM register is written to, the
Encoder Auto Correction feature is disabled to prevent spontaneous Motor Errors - hence it
will need to be re-enabled. Make sure to use the Encoder Auto Correction command as the
last encoder line command to avoid disabling.LineCommandParameter 1Parameter 2CommentsEnc Auto1ENCODER DELAY
This Command will set the dwell time that the unit will wait before checking the Encoder Register,
after the end of the move.  This will take out the ringing that might be associated with the
mechanics of the system.  The range for this is between 1 and 1000 and is in 0.001 seconds [1000
is 1 second]. (Encoder Delay is used to allow for the motor settling time after a move.)
Note: Anytime the ER register is written to, the Encoder Stall Detection feature is disabled to
prevent  spontaneous Motor Errors - hence it will need to be re-enabled.LineCommandParameter 1Parameter 2Comments1Enc Delay500½ secondENCODER POSITION (EP)
This Command will set the starting point of the Encoder Position.
Note: Anytime the EP register is written to, the Stall Detection and Encoder Auto - Correction
features are disabled to prevent spontaneous Motor Errors - hence they will need to be re -
enabled.LineCommandParameter 1Parameter 2Comments1Enc Position0Position 0 can be
the Home PositionENCODER RETRIES (ER)
This Command will set the number of Encoder Retries or number of tries (0 - 250) when
autocorrecting.
Note: Anytime the ER register is written to, the Encoder AutoCorrection feature is disabled to
prevent  spontaneous Motor Errors - hence it will need to be re - enabled.LineCommandParameter 1Parameter 2Comments1Enc Retries5retry 5 times 
						

							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.
{ Negative values represent when the encoder direction is opposite to the motors direction.}LineCommandParameter 1Parameter 2Comments1Enc Ratio2.75ENCODER WINDOW (EW)
This Command will set the Encoder Window  which allows the user to determine the number of
steps the motor can be off before correcting. ( 1- 1,677,215)
Example: The motor missed its stop position by 2 steps. This will mean if the user set the Encoder
Window to 3, the encoder will not correct its position.
Note: Anytime the ENCODER WINDOW (EW ) register is written to, the Encoder AutoCorrection
feature is disabled to prevent  spontaneous Motor Errors - hence it will need to be re -
enabled.LineCommandParameter 1Parameter 2Comments1Enc Window3NOTE: Any Advanced Programming questions should be discussed with the
factory direct. 
						

							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]
H-Hard- limit input [X/Y/Z]
H+Hard+ limit input [X/Y/Z]
SAStop All Indexers
SHStop Hard [X/Y/Z]
SISoft Limit Input[X/Y/Z]
SLSoft Limits Enable  [X/Y/Z]
SSStop Soft[X/Y/Z]
MOTION STATUSMCMotion Complete [X/Y/Z]MDMotor Direction [X/Y/Z]
MEMotor Error Code  [X/Y/Z]
MVMoving [X/Y/Z]
WMWait Motor [X/Y/Z]
ABAt Base Speed Bit [X/Y/Z]
ADAt ramping Down Bit [X/Y/Z]
AFAt Fast Jog Bit [X/Y/Z]
AJAt Slow Jog Bit [X/Y/Z]
AMAt Maximum Speed Bit [X/Y/Z]
ARAt auto-correct Retry Bit [X/Y/Z]
ASAt Speed [X/Y/Z]
AUAt ramping Up Bit [X/Y/Z]
INPUT/OUTPUTOOutputs (1-24)OEOutputs External Module
 (O25 - O48)
OROutput Register
IInputs (1-96)
IOBi-directional Input/Output
 (IO1- IO24)
IRInput Register (I1 -I24)
EXPANSIONIAInput A module (I25 -I48)IBInput B module (I49 -I72)
ICInput C module (I73 -I96)
TAThumbwheel A Module
TBThumbwheel B Module
TCThumbwheel  C Module
PROGRAMMINGPAProgram Autostart [X/Y/Z]PIProgram Insert [X/Y/Z]
PCProgram Clear [X/Y/Z]
PDProgram Delete [X/Y/Z]
PEProgram Edit [X/Y/Z]
PMProgram Memory available
PQPrograms Quit AllPRProgram Run [X/Y/Z]
PSProgram Start [X/Y/Z]
PTProgram Trace [X/Y/Z]
NONo Operation
PPProgram Pause
PWProgram Window Size
PLProgram List [X/Y/Z]
PNProgram Instruction Number
[X/Y/Z]
PBProgram Brief Listing
TERMINALRKRead Key From TerminalRTSRTS to Send
RVRead Value
WKWrite Key
WTWrite Text
WVWrite Value
CTSClear To Send
BRANCHINGBBBranch Breakpoint& LOOPINGBEBranch End of Program
BFBranch if False
BGBranch Goto
BLBranch Loop
BQBranch Quit
BRBranch Return
BSBranch Subroutine
BTBranch if True
FLFor Loop
IF IF Condition
REGISTERSBBits (1-100)& BITSR#Indirect Register
RRegisters (1-100)
RSRead Value Scale Factor
B#Indirect Bit
MATHB?Pattern MatchB-result Bitwise NOT
B%result Bitwise XOR
B+result Bitwise OR
B*result Bitwise AND
GTGreater than Flag
LTLess than Flag
RPPositive Flag
R/Result Divide
R?Result compare
RFResult fraction
RIResult Integer
R+Result add
R*Result multiply
R%Result modulus
RKRead Key
RNNegative Flag
ROOverflow Flag
R-Result Subtract
RRResult Register
RTSquare Root
RZResult Zero Flag
EQEquals Flag