Anaheim Stepper DPD75601 Users Guide

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Direct mode is used to directly control the motion for real time movements through serial communication.  
The DPD75601 has 40 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 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 DPD75601 will return a SMC60 + 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   correct: @0 (carriage return)
     incorrect: @0 (carriage return)
Section 5: Direct Talk Mode
Command Summary:
A - Acceleration/Deceleration
B - Base Speed
C - Steps Between Outputs
D - 1
st Output on the Fly Position
EA - Encoder Auto Correct Enabled
ED - Encoder Delay
EM - Encoder Motor Ratio
ER - Encoder Retries
ET - Encoder reset
EW - Encoder Window
G - Go Number of Steps
H - Home
I - Read Inputs
J - Fast Jog SpeedM - Max Speed
N - Number of Steps
O - Set Outputs
P - Absolute Position
S - Go Slew
T - Motor Current Enabled
V - Verify
Z - Position
! - Error Codes Register
$ - Versions Number
% - Verify 
‘ - Index on the Fly Enabled
( - Output on the Fly Enabled+ - Clockwise Direction
, - Stop Soft
- - Counterclockwise Direction
. - Stop Hard
/ - Thumbwheel Enabled
: - Analog Position Enabled
; - Analog Speed Enabled
[ - Analog Speed Lower Limit
] - Analog Speed Upper Limit
^ - Number of Outputs
{ - Analog Position Lower Limit
} - Analog Position Upper Limit
~ - Set Address of DPD75601 
						

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A - Acceleration/Deceleration
Format:   A[value]
Description: This command sets the acceleration profi le which is an integer value between 
100 and 9,999,999.  The higher the value, the faster the motor acceleration.
Range:    100 - 9,999,999
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 and fast jog speed.
Range:    1 - 5000
C - Number of Steps Between Outputs During Output on the Fly
Format:   C[value]
Description:  This command sets the number of steps between when output 1 turns on 
during an output on the fl y move.  If only one output turn on is needed, set this value to 0.  
This command is used in conjunction with the output on the fl y enabled “(“ command.
Range:    0 - 65535
D - 1st Output on the Fly Position
Format:   D[value]
Description: This command sets the position at which output 1 will turn on during an output 
on the fl y move.  This command is used in conjunction with the output on the fl y enabled “(“ 
command.
Range:    0 - 65535
EA - Encoder Autocorrect Enabled
Format:   EA[0 or 1]
Description:  This command will either enable or disable the encoder auto correct func-
tion.  To enable the function use a 1, to disable the function use a 0.  When this function is 
enabled, the relative register is used to calculate the encoder position, therefore before the 
next move is made, the relative register needs to be set.  This command is used in con-
junction with the encoder delay “ED”, encoder ratio “EM”, encoder retries “ER” and encoder 
window “EW” commands. 
						

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ED - Encoder Delay
Format:   ED[value]
Description:  This command sets the wait time a specifi ed number of milliseconds after 
a relative index or absolute move is fi nished, before reading the encoder.  This is used to 
remove the ringing that might be associated with the mechanics of the system.  This com-
mand is used in conjunction with the encoder auto correct “EA” command.
Range:    0 - 65535
EM - Encoder Motor Ratio
Format:   EM[value]
Description:  This represents the ratio for the number of encoder pulses to one motor step.  
An example is for a 1000 line quadrature encoder and a 400 step/revolution motor, the mo-
tor ratio is (1000 * 4)/400 = 10.  This command is used in conjunction with the encoder auto 
correct EA command.
Range:    1 - 255
ER - Encoder Retries
Format:   ER[value]
Description:  This is the number of times the DPD75601 controller will try to auto correct 
the motor before an error occurs.  This command is used in conjunction with the encoder 
auto correct EA command.  When the auto correct error, Output 8 will be triggered.
Range:    0 - 255
ET - Encoder Reset
Format:   ET
Description:  This command will reset the internal encoder count register to 0.
EW - Encoder Window
Format:   EW[value]
Description:  This is the allowable error in encoder pulses (either plus or minus) from the 
desired position that is allowed before the motor auto corrects.  This command is used in 
conjunction with the encoder auto correct EA command.
Range:    0 - 255 
						

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G - Go Number of Steps
Format:   G
Description:  This command is used to send a set number of clocks out of the DPD75601 
controller.  An N or P command must be entered before the G command.  The ramp profi le 
is specifi ed by the B (base speed), M (max speed), and A (acceleration/deceleration) com-
mands.
H - Home
Format:   H[0 or 1]
Description: 
Home Types:  H0:  In type 0 homing, the DPD75601 will send clocks until a soft limit is 
reached, then ramp down to base speed.  Clocks will continue at base 
speed until a home limit is reached.  The ramp profi le is specifi ed by 
the B (base speed), M (max speed), and A (acceleration/deceleration) 
commands.
H1:  In type 1 homing, the DPD75601 will send clocks until a soft limit is 
reached, then ramp down to base speed, change directions and run at 
base speed unit the release of the home limit input.  The ramp profi le 
is specifi ed by the B(base speed), M(max speed), and A(acceleration/
deceleration) commands.
I - Read Inputs
Format 1:  IR
Description:  This command returns the binary value of the inputs to the PC.  Since the 
inputs are pulled up internally (except input 1), they will return a high when they are open.  
For example; if all inputs are active (grounded), the command will return a 0.  If all inputs are 
inactive (open), the command will return a 63.  Input 1 is the LSB and input 6 is the MSB.
Format 2:  I[input]
Description:  This command returns the value of the selected input to the PC.  If the input 
is open or high it will return a 1.  If the input is grounded or low it will return a 0.
Range:    0 - 6
J - Fast Jog Speed
Format:   J[value]
Description:  This command sets the fast jog speed.  This value must be set before motion 
begins and be greater than the base speed.
Range:    1 - 50000 
						

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M - Max Speed and Analog Speed
Format 1:  M[value]
Description:  This command sets the maximum (running) speed for motion.  This value 
must be set before motion begins, and be greater than the base speed.
Range:    1 - 50000
Format 2:  M
Description: This command uses the voltage on input 1 to calculate and set the max speed.  
The analog speed must be enabled for this command to work.  This command is used in 
conjunction with the analog speed “;”, the analog speed lower limit “[“, and the analog speed 
lower limit “]” commands.  This value must be set before motion begins.
N - Number of Steps
Format 1:  N[value]
Description:  This command sets the number of clocks for the DPD75601 to send out fol-
lowing a G command.  It is also used to set the registration index during and index on the 
fl y move.  Motion is not activated by this command; it only sets the index register.
Range:    0 - 8388607
Format 2:  N
Description:  This command reads the thumbwheel switches to set the number of clocks 
for the DPD75601 to send out following a G command.  For this command to work SW2 
must be in the TWS position, and the thumbwheel enable bit must be enabled.  Motion is 
not activated by this command, it only sets the index register.  This command is used in 
conjunction with the thumbwheel enabled “/” command.
O - Set Outputs
Format 1:  OR[value]
Description: This command sets the output register according to the binary value entered. 
Output 1 is the LSB and output 8 is the MSB.
Range:    0 - 255
Description:  This command sets the selected output either on or off.  A 1 will turn the 
output on (0VDC) and a 0 will turn the output off (open).
Range:    0 - 8 
						

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P - Absolute Position and Analog Position
Format 1:  P[value]
Description:  This command calculates and sets the number of clocks for the DPD75601 
to send out following a G command.  Motion is not activated by this command; it only sets 
the register.  (N = P - Z)
Range:    -8388607 to +8388607
Format 2:  P
Description:  This command uses the voltage on input 1 to calculate and set the number 
of clocks for the DPD75601 to send out following a G command.  The analog position must 
be enabled for this command to work.  Motion is not activated by this command, it only sets 
the register (N = P - Z).  This command is used in conjunction with the analog position “:”, 
the analog position lower limit “{“, and the analog position lower limit “}” commands.
S - Go Slew
Format:   S
Description:  This command will send clocks out to the DPD75601.  The only commands 
that can stop the clocks are; “.” (stop motion) or “,” (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.
T - Motor Current Enabled
Format 1:  T[0 or 1]
Description:  This command will control the On/Off output, which is designed to connect to 
the on/off input of Anaheim Automation’s step motor drivers.  To energize and allow current 
to fl ow through the coil of the motor, set the value to 1.  To de-energize and turn the current 
off to the motor, set the value to 0.  This is a dedicated output, and not controlled with the 
output register. 
						

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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 shown below.
Z - Position 
Format:   Z[value]
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:    -8388607 to +8388607
! - Error Codes Register
Format:   !
Description:  This command requests the DPD75601 controller to get the current error 
code and print it to the screen.  For a description of the error codes see page 39.
$ - Version Number Register
Format:   $
Description:  This command requests the DPD75601 controller to return its internal fi rm-
ware version number.
Command Description Command Description
A Verify acceleration/deceleration O Verify outputs
B Verify base speed T Verify motor current (1 is on, 0 is off)
C Verify Steps between outputs on the fl y Z Verify position
D Verify 1
st output on the fl y position ‘ Verify index on the fl y enabled**
EA Verify encoder autocorrect enable** ( Verify output on the fl y enabled**
ED Verify encoder delay + Verify direction
EM Verify encoder motor ratio / Verify thumbwheel index enabled**
EP Verify encoder position : Verify analog position enabled**
ER Verify encoder retries ; Verify analog speed enabled**
EW Verify encoder window [ Verify lower analog speed value
FVerify if controller is busy (1 is busy, 0 
is not busy)] Verify upper analog speed value 
J Verify jog speed ^ Verify number of outputs
LVerify Limits (1 is Hard, 2 is Soft, 3 is 
Hard and Soft, 0 is neither){ Verify lower analog position value
M Verify max speed } Verify upper analog position value
N Verify number of steps ** 1 is enabled, 0 is disabled 
						

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% - Verify Address Register
Format:    %   (No address is needed before this function. @% will return the address)
Description:  This command requests the DPD75601 controller to return its internal ad-
dress number to the PC or PLC.
‘ - Index on the Fly Enabled
Format:   ‘[0 or 1]
Description:  This command will either enable or disable the index on the fl y function.  To 
enable the function, use a 1.  To disable the function use a 0.  This command is used in 
conjunction with the number of steps “N” and go slew “S” commands.
( - Output on the Fly Enabled
Format:   ([0 or 1])
Description:  This command will either enable or disable the output on the fl y  function.  
To enable the function, use a 1.  To disable the function use a 0.  This command is used 
in conjunction with the number of steps between outputs “C”, 1
st output position “D”, and 
number of outputs “^” commands.
+ - Clockwise
Format:   +
Description:  This command sets the direction output to clockwise.
, - Soft Limit Input Bit
Format:   ,
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 DPD75601 controller 
will continue to the set position and stop.  In a slew type motion the DPD75601 controller 
will ramp down and stop.  In a home type motion the DPD75601 controller will ramp down 
and run at base speed, until the home limit is activated.
- - Counter-Clockwise
Format:   -
Description:  This command sets the direction output to counterclockwise.
. - Stop Motion
Format:   .
Description:  This command will stop all motion.  It can also be used to stop the current 
program that is running.   
						

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/ - Thumbwheel Index Enabled
Format:   /[0 or 1]
Description:  This command will either enable or disable the ability to use the thumbwheel 
switches for indexing.  If enable, SW2 must be in the TWS position for the thumbwheel to 
be connected to the processor.
: - Analog Position Enabled
Format:   :[0 or 1]
Description: This command will either enable or disable input 1 to be used to set the analog 
position.  To enable the function, use a 1.  To disable the function use a 0.  This command 
is used in conjunction with the analog position lower limit “{“ and analog position upper limit 
“}” commands.
; - Analog Speed Enabled
Format:   ;[0 or 1]
Description:  This command will either enable or disable input 1 to be used to set the ana-
log speed.  To enable the function, use a 1.  To disable the function use a 0.  This command 
is used in conjunction with the analog speed lower limit “[“ and analog speed upper limit “]” 
commands.
[ - Analog Speed Lower Limit
Format:   [[value]
Description:  This command sets the lower limit that is used during the calculation follow-
ing an M command for the analog speed input.  This command is used in conjunction with 
the analog speed enabled “;” and max speed “M” commands.
Range:    1 - 50000
] - Analog Speed Upper Limit
Format:   ][value]
Description:  This command sets the upper limit that is used during the calculation follow-
ing an M command for the analog speed input.  This command is used in conjunction with 
the analog speed enabled “;” and max speed “M” commands.
Range:    1 - 50000 
						

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^ - Number of Outputs During Output on the Fly
Format:   ^[value]
Description: This command sets the number of times output 1 will turn on during an output 
on the fl y move.  This command is used in conjunction with the output on the fl y enabled “(“ 
command.
Range:    0 - 255
{ - Analog Position Lower Limit
Format:   {[value]
Description:  This command sets the lower limit that is used during the calculation follow-
ing a P command for the analog position input.  This command is used in conjunction with 
the analog position enable “:” and absolute position “P” commands.
Range:    0 - 65535
} - Analog Position Upper Limit
Format:   }[value]
Description:  This command sets the upper limit that is used during the calculation follow-
ing a P command for the analog position input.  This command is used in conjunction with 
the analog position enable “:” and absolute position “P” commands.
Range:    0 - 65535
~ - Set Address Register
Format:    ~[value]  (No address is needed before this function.  @ ~[value] will set
      the address)
Description:  This command sets the address for communication inside the DPD75601.
Range:    0 - 99