Anaheim Stepper DPX01E16 Users Guide

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DPX01E16
6 Axis Driver Pack
User’s Guide
910 East Orangefair Lane, Anaheim, CA 92801
e-mail: [email protected](714) 992-6990  fax: (714) 992-0471
website: www.anaheimautomation.com
ANAHEIM AUTOMATION 
						

							2 #L010147February 2004
Communications
Baud Rates
A term used frequently in serial data communications. A “baud” is defined as the reciprocal of the shortest
pulse duration in a data word signal, including start, stop, and parity bits. This is often taken to mean the
same as “bits per second”, a term that expresses only the number of “data” bits per second. Very often,
the parity bit is included as an information or data bit. This unit accepts a baud rate of 115200 only and
protocol settings of 1 start bit, 8 data bits, no parity and 1 stop bit.
RS232 to RS485 Protocol
The controller can be connected to your PC serial port via an RS485 converter box. The RS232 converter
will convert the RS232 communication format to the RS485 format. Only one converter box is needed per
serial port.
RS485 Protocol
The RS485 protocol is as follows, on board receivers will remain in active mode indefinitely. Transmitters
must be turned off when the unit is not sending data to prevent the line from sending and receiving data at
the same time. Therefore when the PC is transmitting data its driver will be turned on and each of the units
connected will have their drivers off. If they are requested to send data back to the PC, the selected unit
will turn it’s driver on to send the data then turn it off after it has completed transmission. Note: The above
protocol is done internally between the converter and the controller. The RS485 method of communica-
tion allows increased noise immunity and increased communication distance of up to 4000 feet without
repeaters. RS485 repeaters allow an additional 4000 feet per repeater.
Two Wire Configuration
The two wire configuration reduces cabling costs by requiring only three wires. A (-), B (+) and ground.
The DPX01E16 is internally configured for the two wire configuration. RS485 devices may be internally or
externally configured for two wire systems. Internally configured RS485 devices simply provide “A” and
“B” connections (sometimes labeled “-” and “+”). To use the 2 wire configuration with a four wire converter,
simply jumper wire the TX+ to RX+ to  make the B(+) terminal, and the TX- to RX- to make the A(-)
terminal on your converter box. Then run a wire from ground to ground, a wire from B(+)  to B(+)  and a
wire from A(-) to A(-) to the first controller in the network. If multiple controllers are connected on the same
network, simply wire from the first controller to the second to the third and so on keeping ground, A(-) and
B(+) connected throughout the entire network.  The tristate capabilities of RS485 allow a single pair of
wires to share transmit and receive signals for half duplex communications. This “two wire” configuration
(note that an additional ground conductor should be used) reduces cabling cost.
Terminating Resistor
To eliminate noise on the transmission lines a terminating resistor may need to be used. If needed the
termination resistor need only be added to the last (furthest from the converter box) controller in the
network. A termination resistor with a value of 120 ohms is needed when using a 4000 ft. or longer cable.
If needed this resistor needs to be placed across the + and - terminals of the RS485 connector (Pins 1 and
2 of P8). 
						

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Electrical Specifications
Power Requirements:
90-265 VAC Single Phase
Operating Temperature:
0º to 60º C
Pulse Output Range:
1 to 10,000 steps/sec
Limit Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC (1mA)
Logic “1”: 3.5 to 5.0VDC (0mA)
Inputs are internally pulled high
Baud Rate:
115200 BAUDData Format:
1 start bit, 8 data bits,
no parity, 1 stop bit
Outputs (8 programmable):
Open Drain Type
24V, 500mA
Vce(sat) = 300mV @ 100mA, 50mV @ 400mA
Note: For inductive loads a clamping diode must
be used to protect from fly back voltage spikes.Driver Ratings:
Output Current 0.15 Amps peak
m e t Is t i n U
t n e r r u C t u p t u O e s a h P11 . 0)S M R ( A
t n e r r u C t u p t u O e s a h P51 . 0)k a e P ( A
Terminal Descriptions
P9: Outputs
# n i Pn o i t p i r c s e Dr o l o C e r i W
11t u p t u Onw o r B
22t u p t u Ode R
33t u p t u Oeg n a r O
44t u p t u Owo l l e Y
55t u p t u One e r G
66t u p t u Oeu l B
77t u p t u Ote l o i V
88t u p t u Oye r G
P7: Limit Inputs
# n i Pn o i t p i r c s e Dr o l o C e r i W
1dn u o r Gkc a l B
2+1 s i x Anw o r B
3-1 s i x Ade R
4+2 s i x Aeg n a r O
5-2 s i x Awo l l e Y
63s i x Ane e r G
74s i x Aeu l B
85s i x Ate l o i V
96s i x Aye r G
0 1dn u o r Gkc a l B
# n i Pn o i t p i r c s e Dr o l o C e r i W
1Ae s a h Peg n a r O
2\A e s a h Pkc a l B
3Be s a h Pde R
4\B e s a h Pwo l l e Y
# n i Pn o i t p i r c s e Dr o l o C e r i W
1)+ ( ) B ( D Tnw o r B
2)- ( ) A ( D Tet i h W / n w o r B
3dn u o r Gkc a l B
P8: RS485 P1-P6: Motor Connections 
						

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Axis Selection
Each controller will be addressed using a  two position dip switch allowing the PC to address up to 4
controllers from one port.  The switch is located on top of the unit.
s i x A
d e t c e l e S1 W S
g n i t t e S2 W S
g n i t t e S
0FF OFF O
1NOFF O
2FF ONO
3NONO
Reducing Output Current
Reducing the output current is accomplished automatically and occurs approximately 20mSec after a
move is finished. The amount of current per phase in the reduction mode is approximately 70% of the set
current. When the current reduction circuit is activated, the current reduction resistor is paralleled with the
current adjustment potentiometer. This lowers the total resistance value, and thus lowers the per phase
output current.
Connecting the Step Motor
Phase 1 and Phase 3 of the step motor are connected to pins 1 and 2 on connectors P1 - P6. Phase 2 and
Phase 4 of the step motor are connected to pins 3 and 4 on connectors P1 - P6.
NOTE: The physical direction of the motor with respect to the direction input will depend on the connection
of the motor windings. To reverse the direction of the motor with respect to the direction input, switch the
wires on Phase 1 and Phase 3.
WARNING: Do not connect or disconnect motor wires while power is applied!
Dimensions 
						

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COM Port Settings
Baud Rate:115200
Data Bits:8
Parity:None
Stop Bits:1
Flow Control:Xon/Xoff
Unit Selection
In order to select a unit the @ command followed by the address of the unit must be sent.
NOTE: There should be no spaces between the @ and address select.
How to select a unit:
@0 (Unit 0 is selected)
@1 (Unit 1 is selected)
@3 (Unit 3 is selected)
How to get a response from a unit:
@0$ (Carriage Return)
After the $ command, the controller will return an ESS06 + the current 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 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. After all instructions that set a register, the registers contents will be returned to the pc to
verify that the correct value was received. A # indicates that a value between 1 - 6 needs to be entered to
set the proper axis parameters. The # is the number of the axis.
(@0 not @ 0)
Command Summary:
A  - Acceleration/Deceleration
B - Base Speed
D - Microstep Divisor
E - Enable Motor
F - Poll if Busy
G - Go
I - Set Index Distance
L - Get Limit Register StatusM - Max Speed
O - Set Outputs
S - Stop Motion
V - Verify
+ - Clockwise Direction
- - Counterclockwise Direction
$ - Version Number Register
! - Error Codes Register 
						

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A - Acceleration/Deceleration
Format: A#_ [value] ex:@0A1_10000
Description: This command sets the acceleration profile based on the following function
Speed 2 = Accel/Speed 1 + Speed 1
Each axis has its own accel value and needs to be entered in separately for each
one. This value must be set before motion begins.
Range: 100 - 999,999 Default:1000
B - Base Speed
Format: B#_ [value] ex:@0B4_100
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. Each axis has its own
base speed value and needs to be entered in separately for each one.
Range: 1 - 5000 Default: 1
D - Microstep Divisor
Format: D[value] ex:@0D4
Description: This command sets the microstepping divisors for all axes. A 1 will set the drivers in
full step, a 2 will set the drivers in half step, a 4 will set the drivers in quarter step,
and an 8 will set the driver is eighth step. There is only one D value for all axes.
Range: 1, 2, 4 or 8 Default: 8
E- Enable Motor
Format: E#_[value] ex:@0E2_1
Description: This command will enable or disable the given axis. A 1 will enable the driver and a
0 will disable the driver. Each axis has its own enable bit and must be entered
separately for each one.
Range: 0 or 1 Default: 0
F - Poll if Busy
Format: F ex:@0F
Description: This command will send back a 0 if a motor is not running, or a 1 if a motor is
running 
						

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G - Go
Format: G# ex:@0G5
Description: This command tells the given axis to move the number of steps set in the index
register for that axis. All speed profile information must be set for the given axis
before this command is used.
I -Index Distance
Format: I#_[value] ex:@0I6_4000
Description: This command sets the number of steps for the motor to move following a G
command.  Each axis has its own index value and needs to be entered in
separately for each one. This value must be set before motion begins.
Range: 0 - 65,535 Default: 0
L - Limit Register Status
Format: L ex:@0L
Description: This command will send back the 8 bit binary value of the limit register. With no
limits activated a value of 255 will be sent back, with all limits activated a value of 0
will be sent back. Limit 1+ is the LSB and Limit 6 is the MSB
M -  Max Speed
Format: M#_ [value] ex:@0M1_1500
Description: This command sets the max (running) speed for motion. This value must be set
before motion begins and be greater then the base speed. Each axis has its own
max speed value and needs to be entered in separately for each one.
Range: 1 - 10,000 Default: 1
O - Set Outputs
Format: O[value] ex:@032
Description: This command sets the output register according to the binary value. To turn on
Output 8 only send a value of 182, to turn on Output 1 and Output 2 send a value
of 3. Output 1 is  the LSB and output 8 is the MSB.
Range: 0 - 255 Default: 0
S - Stop Motion
Format: S ex:@0S
Description: This command will stop the motor while it is running. This command is valid only
when there is motion of one of the axes. 
						

							8 #L010147February 2004
+ - Direction Clockwise
Format: + ex:@0+
Description: This command sets the direction for all of the axes to clockwise. A value of 1 will
be sent back to the PC after this command is received. This is the default value
for direction
- - Direction Counter-Clockwise
Format: - ex:@0-
Description: This command sets the direction for all of the axes to counterclockwise. A value
of 0 will be sent back to the PC after this command is received.
$ - Version Number Register
Format : $ ex:@0$
Description: This command requests the controller to return the version number of the internal
firmware.
! -  Error Codes Register
Format : ! ex: @0!
Description: This command requests the controller to get the current error code and print it to
the screen. Refer to the troubleshooting section for definitions of error codes.
V - Verify
Format: V [command] ex: @0VA1
Description: This command can be used with most commands to verify the register contents.
The verify command causes the controller to send data back to the PC. The data
is sent as an ASCII decimal string followed by a carriage return and a line feed.
The permissible verify commands are shown below.
d n a m m o Cn o i t p i r c s e D
# Ano i t a r e l e c e d / n o i t a r e l e c c a y f i r e V
# Bde e p s e s a b y f i r e V
Dro s i v i d p e t s o r c i m y f i r e V
# Ede l b a n e s i x a y f i r e V
# Iec n a t s i d x e d n i y f i r e V
# Mde e p s x a m y f i r e V
Ore t s i g e r t u p t u o y f i r e V
+)W C C s i 0 , W C s i 1 ( n o i t c e r i d y f i r e V 
						

							9 #L010147February 2004
Troubleshooting
Problem:
Can not establish communications with the controller.
Possible Solutions:
1) Make sure the controller has power.
2) Check RS485 connections.
3) Check for loose cable connection either on the controller or COM Port.
4) Verify that the address is correct
9) If problems still exist, contact Anaheim Automation Tech Support...
Problem:
There is no power to the controller.
Possible Solutions:
1) Is the driver pack connected to the appropriate power supply?
2) Check the driver pack’s fuse.
3) If problems still exist, contact Anaheim Automation Tech Support.
e d o C r o r r Ee p y Tn o i t p i r c s e D
1e v e i c e R
r o r r E w o l f r e v Ol a n r e t n i n a s i s i h T . r o r r e g n i v i e c e r a d a h s n o i t a c i n u m m o c l a i r e s e h T
. r e t u p m o c e h t y b d e s u a c r o r r e
2ro r r E t t i m s n a r Tr o r r e l a n r e t n i n a s i s i h T . C P e h t o t k c a b t n e s s r e t e m a r a p y n a m o T
. m o r p e e e h t y b d e s u a c
4ro r r E d n a m m o Ct a h t e e s o t k c e h c e s a e l P . r e l l o r t n o c e h t o t t n e s s a w d n a m m o c d a b A
. d i l a v s i t n e s g n i e b d n a m m o c e h t
8s r e t e m a r a P o r e Z
r o r r Et n e s s a w d n a m m o c A . r e l l o r t n o c e h t o t t n e s s r e t e m a r a p o n e r e w e r e h T
. d n a m m o c e h t r e t f a s r e t e m a r a p e e s o t d e t c e p x e t a h t r e l l o r t n o c e h t o t
6 1ro r r E e g n a Re h t o t t n e s s r e t c a r a h c d n a s d n a m m o c f o r e b m u n d i l a v n i n a s a w e r e h T
. d n a m m o c e h t r o f d i l a v e r a s r e t e m a r a p e h t f i e e s o t k c e h C . r e l l o r t n o c
Error Codes
910 East Orangefair Lane
Anaheim, CA, 92801-1195
phone: (714) 992-6990
fax: (714) 992-0471
www.anaheimautomation.comAnaheim Automation
Tech Support: 
						

							10 #L010147February 2004
Appendix 1: Hyper Terminal Setup
To use Hyper Terminal with the DPX01E16, proper setup is required. Follow the procedures listed below
for proper communication. Most versions of the Windows operating system includes Hyper Terminal.
1) Open HYPERTRM.EXE on the PC
2) Choose a name and icon to identify the file. The file will have the .ht extension when saved
3) Then select the correct com port to communicate with in the Connect To tab
4) The next screen is the Configure command button in the Connect To tab
a) Bits per second = 115200
b) Data bits = 8
c) Parity = None
d) Stop bits = 1
e) Flow control = None
5) In the File|Properties menu click on the Settings Tab and select the ASCII Setup button
a) Uncheck Send line ends with line feeds
b) Check Echo typed characters locally
c) Set both Line delay and Character delay to 0 milliseconds
d) Check Append line feeds to incoming line ends
e) Uncheck Force incoming data to 7-bit ASCII
f) Check Wrap lines that exceed terminal width
6) Save file so the parameters are set the next time you open the file. The file will have the .ht
extension when saved
7) Set the DPX01E16 address to 0
8) Power on the DPX01E16 and connect the serial cable to the correct com port
9) Type @0$ [enter] and the DPX01E16 should return the value ESS06 on one line and the
version of the firmware on the next line
10) You now know Hyper Termianl  is communicating with the unit. Make sure the Caps Lock key
is activated before you begin sending more instructions to the unit
Note: The next time you want to open Hyper Terminal, click on the file name you created so the param-
eters will be saved. If you open HYPERTRM.EXE again, then you will have to setup the parameters again.