23MDSI Series Stepper Motor/Driver/Controller
USER’S GUIDE
• Stepper Motor / Microstep Driver / Controller
• Eliminates Motor Wires
• Encoder Options Available
• Microstep Divisors of 8, 4, 2, or Full Step
• Compact Package
• 12-24V Power Requirement
• RS485 Communications
• TTL Logic or 24V Level Inputs Available
• Ideal for Precise Positioning
o
• 0.225
Resolution at Eighth Step
• Ecient and Durable
• Long Life Expectancy
The 23MDSI Series has a compact construction that integrates a simple indexer/controller, microstepping driver
and a stepper motor in one streamline package. With the three parts combined into one casing, the need to
include motor wires has been eliminated. The high-torque step motor can generate up to 230 oz-in of torque.
The microstepping driver will operate o 12VDC minimum to 24VDC maximum with a maximum power intake
of 40W. The inputs are capable of running from either open collector, TTL level logic outputs or 24VDC outputs
from PLCs and are all active low. The microstepping driver features resolutions from 200 - 1600 steps/revolution, providing smooth rotary operation. The 23MDSI Series comes in either a single shaft version or a double
shaft version with optional encoder. Motor stack lengths of 1/2, 1, 2, or 3 allow for varying amounts of start-up
torque, dynamic torque and inertia. Standard motors that have the 04 and 10 encoder part number call out, do
not come with an index. An index channel as well as other CPR options are available on special request. The
23MDSI Series features built in over temperature and short circuit shut down protection. It also has automatic
70% reduction in stepper motor current after indexing is complete and status LED’s to indicate power on (green
LED) and motor running (yellow LED).
ANAHEIM AUTOMATION
4985 E. Landon Drive Anaheim, CA 92807
e-mail: info@anaheimautomation.com
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(714) 992-6990 fax: (714) 992-0471
website: www.anaheimautomation.com
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INPUT PIN DESCRIPTIONS
Encoder Pin Descriptions
Pin # Description
1 RS485 B(+)
2 RS485 A(-)
3 RS485 Gnd
4 Input 1
5 Input 2
6 On/O
7 Direction In
8 Hard Limit +
9 Hard Limit -
10
Ouput 1
11 12VDC-24VDC
12 0VDC (Gnd)
Pin # Description CBL-AA4032 Wire Color
1 0VDC (Gnd) Brown
2 Index (Optional) Red
3 Channel A Orange
4 +5VDC Yellow
5 Channel B Green
Control Inputs (Pins 4, 5,6,7):
Input 1,2: Logic “1” (Open) = Not Active
Logic “0” (0VDC) = Active
Direction: Logic “1” (Open) = CW
Logic “0” (0VDC) = CCW
On/O: Logic “1” (Open) = On
Logic “0” (0VDC) = O
Limit Inputs (Pins 8,9):
Limits: Logic “1” (Open) - Not Active, Motor Running
Logic “0” (0VDC) - Active, Motor stops in given Direction
Note:
Open Inputs are inactive and internally pulled up to +5VDC for all 23MDSI models
Control Outputs (Pin 10):
Output 1: Open Drain Type Output, Vce (max) = 40VDC, Ic (max) = 50mA
This output will conduct current when active, and be open when not active. Current needs to be
limited into this pin. For the 23MDSI Series, this output is a complete output.
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Dimensions
Single-Ended Shaft Dimensions
Double-Ended Shaft without Encoder Dimensions
Double-Ended Shaft with Encoder Dimensions
Model Length Model Length Model Length
23MDSI006S-00-00 2.914” 23MDSI006D-04-00 2.914” 23MDSI006D-10-00 2.914”
23MDSI106S-00-00 3.504” 23MDSI106D-04-00 3.504” 23MDSI106D-10-00 3.504”
23MDSI206S-00-00 4.292” 23MDSI206D-04-00 4.292” 23MDSI206D-10-00 4.292”
23MDSI306S-00-00 5.828” 23MDSI306D-04-00 5.828” 23MDSI306D-10-00 5.828”
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Hook-Up Drawings
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Ordering Information - Use the chart to create your specic part number
Model Series Motor Length Shaft Options Encoder Options Special Options
23MDSI 106 S -00 -00
006, 106, 206, 306
S - Single-Shaft, D - Double-Shaft with Optional Encoder Mounted
-00 - No Encoder,
-04 - 400 Line Encoder without Index
-10 - 1000 Line Encoder without Index
Other options will be made available as requested
-00 Standard Product
Other options will be created
as needed
Accessories Ordering Information
Part Number Description
PSAM24V2.7A 24V @ 2.7A Universal Input Power Supply
PSAM24V1.2A-5V3.5A 24V @1.2A and 5V @ 3.5A Univeral Input Power Supply
CBL-AA4032 5 Pin Encoder Connector with 12” Leads
CON-6404405 5 Pin Connector with 0.100” Centers (Amp #640440-5)
485SD9TB Port Powered RS232-RS485 Converter
AA9MFC-6 6 Foot Male to Female Serial Cable
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Inputs and Outputs
Inputs: All inputs are pulled up to 5VDC. A logic “0” activates inputs that are pulled up. An unconnected input will
always remain inactive.
Direction: When this input is not active, the motor will be moving in the clockwise or “+” direction. When this
input is active, the motor will move in the counterclockwise or “-“ direction. This input is not read when a software
index command is given. To change direction while using the software, change the direction option there. When
two motors are used, the second motor will move in the opposite direction by default.
On/O: When this input is not active, the motor will be enabled or energized. When this input is active, the motor
will be disabled or de-energized.
Input 1,2: These inputs are used to select one of the two proles. When one of the proles is activated, the unit
will change the speeds, acceleration, index number and complete time based on the pre-programmed values for
that prole and begin the index. Activate only one of these inputs at once.
Hard Limits: These two inputs are controlled by the direction of the indexer. When the indexer is running in the
positive direction only hard+ will work. When the indexer is running in the negative direction then only hard- will
work. When pulled low the indexer will stop all pulses to the motor. To reverse o of a Hard Limit, change directions,
and activate another prole input again to move in the opposite direction.
Output 1 (Complete Output): This is an open collector output that is capable of sinking 50mA. It is current
sinking when the indexer nishes its index cycle for the pre-programmed amount of time.
Microstep Modes
The microstepping modes are set by using the software when the proles are being setup. The ranges of
microstepping are 200, 400, 800, and 1600 steps per revolution in a 200 step/revolution step motor. To set the
divisor just select the divisor wanted (1,2,4, or 8).
Reducing Output Current
Reducing the output current is accomplished automatically. The amount of current per phase in the reduction
mode is approximately 50% of the set motor current. When the current reduction circuit is activated, this lowers
the per phase output current. This is done when the indexer is not running.
LEDs
When powered and operated properly, the status LED will be green. When an error occurs, the LED will change
to RED and an error code will be generated in the error code register. To read and clear the error with the software, click on the “Verify Parameters” button. To read and clear the error while in “Direct Mode” use the “!” command. Once the error has been read and cleared, the LED will return to green and the error code register will be
cleared. Refer to the table in section 5 for a list of the error codes. When the indexer is running the yellow LED
will be on. Refer to the dimension drawing for location of the LEDs. For more detail on “Direct Mode” refer to the
Direct Talk Mode section of user’s guide.
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Baud Rates
The 23MDSI Series only accepts a baud rate of 38400. A baud rate is a term used frequently in serial data com-
munications. A “baud” is dened 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.
RS485 Protocol
The 23MDSI Series uses a RS485 protocol for communication. The RS485 protocol mode is as follows; On board
receivers will remain in active mode indenitely. Transmitters must be turned o 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 o. If they are requested to
send data back to the PC, the selected unit will turn it’s driver on to send the data and then turn it o after it has
completed transmission. Note: The above protocol is done internally between the converter and the 23MDSI Series.
The RS485 method of communication allows increased noise immunity and increased communication distance
of up to 4000 feet without repeaters. RS485 repeaters allow an additional 4000 feet per repeater. The 23MDSI
Series is designed for two wire conguration. The 2 wire conguration makes use of the tristate capabilities of
RS485 to allow a single pair of wires to share transmit and receive signals for half duplex communications. This
“two wire” conguration (note that an additional ground conductor must be used) reduces cabling cost. NOTE:
Keep control wiring separated from motor cable/wiring.
RS232 to RS485 for multiple units or cables longer than 50ft
The 23MDSI Series can be connected to your PC serial port via a RS485 converter (model number: 485SD9TB
sold separately). This converter will convert the RS232 voltage signals to the compatible RS485 dierential signals.
Only one converter box is needed per serial port. Contact the factory or use the website www.anaheimautomation.
com for RS485 converter information and sales.
Terminating Resistor
To eliminate noise on the transmission lines or when using a 4000 ft. cable, a terminating resistor is suggested.
If used, the termination resistor need only be added to the last (furthest from the RS485 converter box) 23MDSI
Series motor/driver/controller on the network between pins A(-) and B(+) on the terminal block. The value of this
resistor should be 120 ohms.
Axis Selection
Each 23MDSI Series motor/driver/controller is addressed using a programmable register allowing the PC to address up to 99 units from one serial port. The Default axis is “0”. To change the axis, use the SMPG-SMSI software
or the “~” command. To verify or check the axis, use the software or the “%” command. The axis designation is
nonvolatile and will remain the same until changed by the user.
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Motion Proles and Running the Indexer
The programmable simple indexer has the ability to store two dierent motion proles. The proles include a base
speed (starting speed), a maximum speeds (running speed), acceleration/deceleration, and a number of steps
(index) number. The base speed has a range of 1-5000 Hz, the maximum speed has a range of 1 Hz-50 kHz, the
acceleration/deceleration has a range of 100 to 9,999,999 steps/sec2 and the index has a range of 0-8,388,607
steps.
There are “two ways” to get the unit to index: Examples are shown on the next page.
1) The rst way is to directly control it from the computer with the software provided. Once the motion proles
have been set, the unit is ready to index. From the software, the user can select which prole to run and then click
the begin index button. If a soft limit command is sent or a soft limit input is activated, then the unit will immediately
ramp down to base speed and continue running until the index has completed. To stop all motion before the index
has completed, a hard limit command needs to be sent or a hard limit input must be activated.
2) The second way to make the unit run is to activate the individual index input. When an index input is
activated, it selects from memory the speed prole that was selected. If a soft limit input is activated, then the
unit will immediately ramp down to base speed and continue running until the index has completed. To stop all
motion before the index has completed a hard limit input must be activated.
Normal Operation
A) A Prole input is activated; Ramps up to max speed.
B) No limit is active; Max speed is reached (keeps running at max speed).
C) No limit is active; Internal counter signals to ramp down to base speed.
D) Internal Counter is complete; Base speed is reached. Pulses stop. Complete Output is set.
Speed
A B C D
Time
Hard Limit Activated During Index
A) A Prole input is activated; Ramps up to max speed.
B) No limit is active; Max speed is reached (keeps running at max speed).
C) Hard limit is activated; Pulses stop. Complete Output is set.
Speed
A B C
Max Speed
Base Speed
O
Max Speed
Base Speed
O
Time
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Functions
Hard Limit Switches: When a hard limit switch is encountered, the pulses will stop. Hard limits are intended as
either a home position or an emergency stop for your system.
Prole Inputs: These inputs are used to select and begin the specied motion prole. Only 1 input should be
activated at a time.
Motion Proles: The indexer will accept up to two dierent speed or motion proles. Each prole has it own
programmable Accel/Decel, Base speed, Max speed, Index distance value and Complete time. Theses values
are stored in EEProm for stand-alone use and must be programmed before the indexer is ran.
Acceleration/Deceleration: The acceleration and deceleration are by default the same value. This function
controls the time that the motor will take to move from base speed to max speed. The higher the value, the faster
the motor will accelerate. The same principal applies for the deceleration which is controlling the time it takes to
go from maximum speed to base speed. The higher the value, the faster the pulses will decelerate. The dierent
accel/decel proles are stored in EEprom for stand-alone use. (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops. It is entered directly as the number
of steps per second. This speed must always be less than the max speed. The dierent base proles are stored
in EEprom for stand-alone use. (Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the pulses to run at. This speed must always be
equal or greater than the base speed. It is entered directly as the number of steps/second. The dierent max
proles are stored in EEprom for stand-alone use. (Range: 1 to 50,000)
Index Number: The index number is the number of steps that the motor will take when the motion prole starts.
It is entered directly as the number of steps to take. The dierent index proles are stored in EEporm for stand-
alone use. (Range: 0 to 8,388,607)
Direction Input: If this input is open then the unit will be running in the clockwise direction. If this input is active
then the unit will be running in the counterclockwise direction. This pin can be overridden by the programmable
software direction. It will activate the direction output when the pin is changed. This means, that if you start the
prole from the software, the unit will look at the software direction. If you start the indexer from the inputs, then
the unit will look at the direction input.
Complete Output: This is an open collector output that is capable of sinking 50mA. It is current sinking when
the indexer nishes its index cycle for the pre-programmed amount of time. The time is entered as microseconds.
(Range: 1 to 1000)
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SMPG-SMSI Software
The SMPG-SMSI software is a handy utility that supports Anaheim Automation’s programmable pulse generators
and simple indexers. Connecting your PC to the 23MDSI Series stepper motor/driver/controller, via RS485, the
software can easily perform the following tasks:
• Exercise and monitor the 23MDSI Series stepper motor/driver/controller
• Directly communicate with the 23MDSI Series stepper motor/driver/controller
Installation
Software
• The SMPG-SMSI software is supplied on a CD, containing the setup program and the software
• SMPG-SMSI software is compatible with all versions of Windows including Windows 2000
and Windows XP
Windows 3.x Installation
1) Insert the CD into the drive
2) From the Program Manager select File | Run
3) Enter D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
Windows 95/98/NT/ME/2000/XP Installation
Option 1
1) Insert the CD into the drive
2) On the Windows Taskbar select Start | Run
3) Enter D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
Option 2
1) Open Windows Explorer
2) Open CD Drive Folder (D: or E:)
3) Double click the Setup Icon
Getting Started
1) Double click on the SMPG-SMSI icon to run the software.
2) Apply power to the 23MDSI unit.
3) Set the appropriate communication setting by selecting Setup | Communication Setting from the
menu bar.
4) Establish communications with the 23MDSI by clicking on the Connect Icon, or select
Setup | Connect. If the unit is connected properly, the program will notify you when communication
has been established and the correct programming tab will be enabled to let you work with the unit.
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Exit Exit the SMPG10WIN software
Connect Establish communications with the controller.
Toolbar
Connect Establish communication with the controller.
Disconnect
Communication Settings... COM port Selection (Ports 1, 2, 3, 4, 5, 6 or 7)
Exit Exit the SMPG-SMSI software.
Discontinue communications and release the comport for use by other
devices.
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Program Window
Motion Prole Select motion proles 1 or 2.
Send Accel/Decel Send the acceleration & deceleration parameter to the indexer. (steps/sec
Send Base Speed Send the base speed parameter to the indexer. (steps/sec)
Send Max Speed Send the maximum speed parameter to the indexer. (steps/sec)
Send Index Number Send the index number parameter to the indexer. (steps)
Send Complete Time Send the complete time parameter to the indexer. (useconds)
Begin Index
Motor will ramp up to maximum speed and keep moving until a limit switch is triggered
or the index is complete.
Soft Limit Motor will ramp down to base speed and continue running until the index is complete.
Hard Limit Stop any motor motion.
Direction Set direction to clockwise or counter-clockwise.
Microstep Resolution Set microstep resolution to divide by 1, 2, 4, or 8.
Select Axis Set the axis in the software for which 23MDSI unit to communicate with
Dene Axis Sets the axis in the 23MDSI.
Verify Parameters Updates and displays controllers parameters and resets the error codes.
2
)
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Direct Talk Mode
Direct mode is used to directly control the motion for real time movements through serial communication. This
mode is used mainly to program the parameters and for checking the movement of the motor. The 23MDSI Series
has 16 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/Xo
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 the 0.
How to select the unit:
@0 (Unit is selected)
How to get a response from the unit:
@0$ (Carriage Return)
After the $ command, the pulse generator will return a SMSI30 + 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. The commands are also case sensitive and are all sent as capitals.
Command Summary:
A - Acceleration/Deceleration
B - Base Speed
G - Go (Index)
H - Hard Limit
M - Max Speed
N - Index Number
R - Microstep Resolution
S - Soft Limit
T - Complete Time
V - Verify
+ - Clockwise Direction
- - Counterclockwise Direction
$ - Version Number Register
! - Error Codes Register
% - Verify Controller Address
~ - Set Controller Address
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$ - Version Number Register
Format : $
Description: This command requests the 23MDSI to return the version number.
! - Error Codes Register
Format : !
Description: This command requests the 23MDSI to get the current error code and print it to the screen.
+/- - Direction
Format: + or -
Description: This command sets the direction output. A “+” sets the output to clockwise, and a “-” sets
the output to counterclockwise. This must be done when the indexer is not busy.
This value is saved in the EEProm for stand-alone use.
A - Acceleration/Deceleration
Format: A#_[value] - where # is the motion prole number 1 or 2
Sample: A1_10000 Accel of prole 1 equals 10000
Description: This command sets the acceleration prole which can be an integer value between
100 and 9,999,999. These values are saved in the EEProm for stand-alone use.
Range: 100 - 9,999,999
B - Base Speed
Format: B#_[value] - where # is the motion prole number 1 or 2
Sample: B2_500 Base Speed of prole 2 equals 500
Description: This command sets the base (start) speed for motion. This value must be set before mo-
tion begins and be less then the maximum speed. The pulses will ramp down to this speed
after a soft limit is triggered and run at this speed until a hard limit is triggered or the index
has nished. These values are saved in the EEProm for stand-alone use.
Range: 1 - 5000
G - Go Index (Run)
Format : G# - where # is the speed prole number 1 or 2
Description: This command will send clocks out to the pulse generator. The only command that can
stop the clocks is H (stop motion). The S (soft limit) command will make the pulses go
from max speed to base speed. Motion can also be stopped by using the limit switch
inputs. The ramp prole is specied by the B (base speed), M (max speed), and A (accel
eration/deceleration) commands.
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H - Hard Limit or Stop Motion
Format: H
Description: This command will stop all motion. It can only be used when pulses are running.
M - Max Speed
Format: M#_[value] - where # is the motion prole number 1 or 2
Sample: M2_10000 Max Speed of prole 2 equals 10000
Description: This command sets the maximum (running) speed for motion. This value must be set
before motion begins and be equal or greater than the base speed. The motor will run at this
speed until a soft limit or a hard limit is triggered. These values are saved in the EEProm for
stand-alone use.
Range: 1 - 50,000
N - Index Number
Format: N#_[value] - where # is the motion prole number 1 or 2
Sample: N1_10000 Index number of prole 1 equals 10000
Description: This command sets the number of pulses to index for the motion prole. This value
must be set before motion begins. These values are saved in the EEProm for stand-alone
use.
Range: 0 - 8,388,607
R - Microstepping Resolution
Description: This command enables the user to select the desired resolution for the microstep ping
driver. Divisions for the driver are Full step (1), Half step (2), Quarter step (4), and Eighth
step (8). This value is saved in the EEProm for stand-alone use.
Format: R# - where # is 1, 2, 4, or 8
S - Stop Soft
Format: S
Description: This command will cause the indexer to ramp down to base speed and run until the index
is complete or a hard limit is activated. It can only be used when pulses are running.
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T - Complete Time
Format: T#_[value] - where # is the motion prole number 1 or 2
Sample: T2_100 Complete time of prole 2 equals 100 uSeconds
Description: This command sets the time for an active complete signal after the unit has nished
indexing for the motion prole. The number is entered as microseconds. This value must
be set before motion begins. These values are saved in the EEProm for standalone use.
Range: 0 - 1000
V - Verify
Description: This command can be used with most commands to verify the register contents. This is
a read only command. Valid Commands are: A, B, M, N, R, T and +.
Format: V[command]
This format is good for R and +.
R - If a 1 is sent back then the driver is in Full step mode. If a 2 is sent back then the driver is
in Half step mode. If a 4 is sent back then the driver is in Quarter step If mode. If an 8 is
sent back then the driver is in Eighth step mode.
+ - If a 1 is sent back then the direction is clockwise. If a 0 is sent back then the direction is
counterclockwise.
Sample: V+ Verication of Direction is prompted.
Format: V[command]# - where # is the speed prole number 1 or 2
This format is good for A, B, M, N and T.
A# - Verify Acceleration/Decceleration for given speed prole.
B# - Verify Base speed for given speed prole.
M# - Verify Max speed for given speed prole.
N# - Verify Index number for given speed prole.
T# - Verify Complete Time for given speed prole.
% - Verify address register
Format : % (No address is needed before this function. @% will return the address)
Description: This command requests the 23MDSI Series controller to return its internal address number to the PC or PLC.
~ - 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 23MDSI Series controller.
Range: 0 - 99
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Visual Basic Direct Mode Programming Examples
Example 1: This Example is for Axis=0, and Prole=1
DimConst DefaultTimeout As Single = 0.5
frmMain.MSComm1.Output = “@0A1_100000” & Chr$(13) ‘Set Acceleration
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0B1_1000” & Chr$(13) ‘Set Base Speed
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0M1_4000” & Chr$(13) ‘Set Maximum Speed
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0N1_500” & Chr$(13) ‘Set Index Number
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0T1_100” & Chr$(13) ‘Set Complete Time
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0R8” & Chr$(13) ‘Set Microstep Resolution
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0+” & Chr$(13) ‘Set Direction CW
Pause DefaultTimeout
frmMain.MSComm1.Output = “@0G1” & Chr$(13) ‘Start the Index
Pause DefaultTimeout
Example 2: This Example recieves the error code and Version Number from Axis3
Dim Const DefaultTimeout As Single = 0.5
frmMain.MSComm1.Output = “@3!” & Chr$(13)
Pause ShortTimeOut
MsgBox ReceiveAscii()
frmMain.MSComm1.Output = “@3$” & Chr$(13)
Pause ShortTimeOut
MsgBox ReceiveAscii()
Function ReceiveAscii() As String
‘wait for the incoming data to get to the buer
Dim BeginTime As Single
Dim A As Integer
Dim B As Integer
BeginTime = Timer
While Main.MSComm1.InBuerCount = 0
DoEvents
If Timer - BeginTime > 0.1 Then GoTo ExitRoutine1
Wend
A = 0: B = Main.MSComm1.InBuerCount
While A <> B
A = Main.MSComm1.InBuerCount
Pause 0.02 ‘ Fixed time value
B = Main.MSComm1.InBuerCount
Wend
ReceiveAscii = Main.MSComm1.Input
Exit Function
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Troubleshooting
Problem:
Can not establish communications with the indexer.
Possible Solutions:
1) Make sure the indexer has power. Is the Green LED on.
2) Check RS232 connections.
3) Check for loose cable connection either on the pulse generator or COM Port.
4) Was the software installed successfully?
5) Go to Setup | Communication Settings and verify COM port settings.
6) Click on Connect icon to communicate with the indexer.
9) If problems still exist, contact Anaheim Automation Tech Support.
Problem:
There is no power to the indexer.
Possible Solutions:
1) Is the indexer connected to the appropriate power supply?
2) Check for any blown fuses in line with the indexer.
3) If problems still exist, contact Anaheim Automation at 714-992-6990.
Problem:
The indexer has a fault condition.
Possible Solutions:
1) To clear an error use either the SMPG-SMSI software or the direct mode command.
2) The SMPG-SMSI software can clear an error in the motion tab section by clicking on the Verify
Parameters button.
3) The direct mode command “!” can clear an error by prompting indexer to serially send the error code
back to the user.
Example: @0! (carriage return)
Description: Address the unit by typing @ followed by a 0 (address number) an ! (Error Codes Register)
and a carriage return.
Note: The error code is returned in binary coded decimal format. If two errors were received their binary
values would be added together.
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Error Codes
Error Code Type Description
1 Recieve Overow Error
2 Range Error
4 Command Error
8 Transmitt Error
16 Motor Error
32 Zero Parameters Error
ASCII Table for Direct Mode
ASCII Symbol
Hex
Value
ASCII Symbol
The serial communications had a recieving error. This is an internal error caused by
the computer.
There was an invalid number of characters sent to the pulse generator. Check to
see if the parameters are invalid for the command that was sent.
A bad command was sent to the pulse generator. Please check to see that the command being sent is valid, or that the pulse generator is not running.
To many parameters sent back to the PC. This is an internal error caused by the
eeprom.
Motor speed proles are set incorrectly. Please make sure that the base speed is
less than the max speed and that the speeds are within their valid ranges.
There were no parameters sent to the pulse generator. A command was sent to the
pulse generator that expected to see parameters after the command.
Hex
Value
ASCII Symbol
Hex
Value
ASCII Symbol
Hex
Value
Carriage
Return
0 30 7 37 M 4D $ 24
1 31 8 38 N 4E % 25
2 32 9 39 R 52 + 2B
3 33 A 41 S 53 - 2D
4 34 B 42 T 54 _ 5F
5 35 G 47 V 56 ~ 7E
0D 6 36 H 48 ! 21
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Multiple Axes Setup for 23MDSI Series
1. Power up the 1st unit ONLY and connect the RS485 connection to the 1st unit.
2. Click the “Dene Axis” button and enter 0.
3. Click the “Select Axis” button and enter 0.
4. Under Setup menu click “Connect”.
5. Text appears on top of the SMPG-SMSI Software “The Unit is Connected” and the version of the rmware is
displayed as well. This text should turn blue when connected.
6. Under Setup menu click “Disconnect”.
7. Text appears on top of the SMPG-SMSI Software “The Unit is NOT Connected”. This text should turn red
when disconnected.
8. POWER DOWN and Physically disconnect the 1st Unit from both power and RS485 Connections.
9. Power up the 2nd unit ONLY and connect the RS485 connection to the 2nd unit.
10. Click the “Dene Axis” button and enter 1.
11. Click the “Select Axis” button and enter 1.
12. Under Setup menu click “Connect”.
13. Text appears on top of the SMPG-SMSI Software “The Unit is Connected” and the version of the rmware
is displayed as well. This text should turn blue when connected.
14. Under Setup menu click “Disconnect”.
15. Text appears on top of the SMPG-SMSI Software “The Unit is NOT Connected”. This text should turn red
when disconnected.
16. POWER DOWN and Physically disconnect the 2nd Unit from both power and RS485 Connections.
17. For more then two units, continue steps 9 thru 16 incrementing the axis number for each unit.
18. Now reconnect the power and RS485 connections to ALL units.
19. Power up ALL Units.
20. You should now be able to connect individually to any Axis with the RS485 converter from one Serial Port.
Use the “Select Axis” button to connect to each individual axis.
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Copyright
Copyright 2005 by Anaheim Automation. All rights reserved. No part of this publication may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language, in any form or by any means,
electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without the prior written permission of
Anaheim Automation, 4985 E Landon Drive, Anaheim, CA 92807. The only exception to this would be use of the
program examples in this manual.
Disclaimer
Though every eort has been made to supply complete and accurate information in this manual, the contents
are subject to change without notice or obligation to inform the buyer. In no event will Anaheim Automation be
liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use
the product or documentation.
Limited Warranty
All Anaheim Automation products are warranted against defects in workmanship, materials and construction,
when used under Normal Operating Conditions and when used in accordance with specications. This warranty
shall be in eect for a period of twelve months from the date of purchase or eighteen months from the date of
manufacture, whichever comes rst. Warranty provisions may be voided if the products are subjected to physical
damage or abuse.
Anaheim Automation will repair or replace at its option, any of its products which have been found to be defective
and are within the warranty period, provided that the item is shipped freight prepaid, with RMA (return material
authorization), to Anaheim Automation’s plant in Anaheim, California.
Trademarks
Control Link and Driver Pack are registered trademarks of Anaheim Automation.
IBM PC is a registered trademark of International Business Machines, Inc.
ANAHEIM AUTOMATION
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