678k - Fairchild Engineering Ltd
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1. WRITE READ BASE 0 Channel 1 command buffer Channel 1 status BASE 1 Channel 1 data buffer 0 7 Channel 1 data 0 7 of RO R6 BASE 2 Channel 1 data buffer 8 15 Channel t data 8 15 of RO R6 BASE 3 Channel 1 data buffer 16 17 Channel 1 data 16 17 of RO R6 amp STATUS BASE 4 Channel 2 command buffer Channel 2 status BASE 5 Channel 2 data buffer 0 7 Channel 2 data 0 7 of RO R6 BASE 6 Channel 2 data buffer 8 15 Channel 2 data 8 15 of RO R6 BASE 7 Channel 2 data buffer 16 17 Channel 2 data 16 17 of RO R6 amp STATUS 8 Channel 3 command buffer Channel 3 status BASE 9 Channel 3 data buffer 0 7 Channel 3 data 0 7 of RO R6 BASE 10 Channel 3 data buffer 8 15 Channel 3 data 8 15 of RO R6 BASE 11 Channel 3 data buffer 16 17 Channel 3 data 16 17 of RO R6 amp STATUS BASE 12 DIGITAL OUTPUT 0 7 PORT 0 DIGITAL INPUT 0 7 PORT 0 BASE 13 DIGITAL QUTPUT 8 15 PORT 1 DIGITAL INPUT 8 15 PORT 1 BASE 14 IRQ control IRQ status BASE 15 Same as BASE 14 Same as BASE 14 60 PCL 839User s Manual Command buffers WRO WR4 and WR8 Each of the three channels have a command buffer which enables individual programming Channel 1 s command buffer is BASE 0 Channel 2 s is BASE 4 and Channel 3 s is BASE 8 A command can be written to any of the three buffers and the appropriate channel will respond to the command Register format The register format is as follows Register format 02. 300 30F 3F0 3FF O 0n e Off default Note Switches 1 6 control the PC bus address lines as follows Switch 1 2 3 4 5 6 Line A9 A8 A7 A6 5 4 1 Base Address Settings 8 PCL 839 User s Manual Limit Switch Configuration JP1 JP2 JP3 The PCL 839 features 5 limit switches for additionalcontrolofthe output EL EL These are the End Limit signal inputs When the signal of the same direction as the pulse output in direction or pulse mode becomes active pulse output stops immediately SD SD These are the Slow Down signal inputs They are in operation in the SD enable mode refer to the control select modes When the signal ofthe same direction as the pulse output in direction or pulse mode becomes active during high speed start the frequency ramps down When the signal becomes in active the frequency ramps up again ORG This is the Origin point input When this signal becomes active during origin return referto the control select modes pulse output stops immediately Although the PCL 839 caters for five limit switches not all of them have to be operation in one application Referto Fig 2 1 on the next page for an example of the use of limit switches Limit Switch Polarity Setting JP1 JP2 and JP3 set the polarity for channels C B and A respectively When the jumper is set to LO normal the limit switch uses normally
3. 32 PCL 839 User s Manual SLOWDOWN CH I CH CH lD This command causes a channel or more to ramp down its output frequency to FL speed Format SLOWDOWN CH CH CH Example HSPCMOVE 1 2 delayed command RUN WAITTIME 1000 delay 1 second SLOWDOWN 2 The commands above set channels 1 amp 2 to high continious speed wait for 1 second and then ramps the output of channel 2 down to FL speed SLSTOP CH CH CH 1l This command tells a channel or more than one to slow down to FL speed and then stop Format SLSTOP CH Example HSPCMOVE 2 RUN WAITTIME 2000 SLSTOP 2 The above commands instruct channel 2 to rotate in the direc tion and after a 2 second delay tells channel 2 to slow down to FL and then stop Chapter PROG839 EXE 33 STOP CH L CH CH I This commands stops a channel or channels immediately Format STOP CH CH CH Example LSPCMOVE 1 2 HSCPMOVE 3 RUN WAITTIME 1000 STOP 1 2 SLSTOP 3 Channels 1 and 2 stop immediately channel 3 slows down to FL then stops STATUS This command displays the current status of all channels on the screen WAITDI port value This command reads digital input port port and compares the value with value Processing halts until these values are equal Format WAITDI port value port 1 or 0 value is the desired value Example
4. Set ramping down point data Select the multiplier register Set multiplier data Command buffer 10000001 81 H Register bits 7 0 FL data low order 8 bits Register bits 15 8 FL data high order 5 bits Command buffer lt 10000010 82H Register bits 7 0 lt FH data iow order 8 bits Register bits 15 8 FH data high order 5 bits Command buffer lt 10000100 84H Register bits 7 0 lt Acceleration rate data low order 8 bits Register bits 15 8 Acceleration rate data high order 2 bits Command buffer 10000110 86H Register bits 7 0 Ramping down point data low order 8 bits Register bits 15 8 Ramping down point data high order 8 bits Setting is not required if automatic ramping down setting mode Is selected Command buffer 10000111 87H Register bits 7 0 lt Multiplier data low order 8 bits Register bits 15 8 Multiplier data high order 2 bits Chapter 5 Register Programming 73 C Constant Speed Preset Mode Stop at pre set m ud count t Execute the reset Command butter lt 00001000 08H command Effect the preset mode and the For 4 direction Command buffer 01000100 44H direction For direction Command buffer lt 01001100 4CH Seiect the counter Command buffer 10000000 BOH Regieter bits 7 0 lt Data low order 8 bits Register bits 15 8 Data mid order 8 bits Register b
5. For FL Command buffer 00010000 10H For FH Command buffer 00010001 11H Command buffer 00001000 08H reset command PCL 839 User s Manual F High Speed Continious Mode Execute the reset command Effect the manual mode and select the direction 5k Enter the start command Enter the deceleration stop command The status 0 is read Bit6 07 Completion of operation Deceleration stop aT command Stop after deceleration t Command buffer lt 00001000 08H reset command For direction Command buffer 01000000 40H For direction Command buffer 01001000 48H For FH Command buffer 00010101 15H Command buffer 00011100 1CH Waiting for deceleration stop Chapter 5 Register Programming 77 C Constant Speed Origin Return Mode CES Execute the reset command ak ae Effect the origin return mode and select the direction MEC Enter the start command The status 0 is read Completion of operation 78 Stop by origin e S Switch ON qu t Command buffer lt 0001000 08H reset command For direction Command buffer 01000001 41H For direction Command buffer 01001001 49H For FH Command buffer lt 00010000 10H For FL Command buffer lt 00010001 11H When the ORG signal is ON pulse output stops and bit 6 of status 0 becomes 0
6. PCL 839 User s Manual H High Speed Origin Return Mode Ramp down by SD switch ON ne Execute the reset command Effect the origin retum mode and set the direction Enter the start command The status 0 is read Bit6 0 Completion of operation E gt Stop by origin switch ON t Command buffer 00001000 08H reset command For 4 direction Command buffer 01000011 43H For direction Command buffer 01001011 4bH For FH Command buffer 00010101 15H When the SD limit switch of the same direction as the preset direction in ON the frequency ramps down to the rate of FL When the ORG limit switch is ON pulse output stops and bit 6 of status 0 becomes 0 Chapter 5 Register Programming 79 A Diagrams 55 asva nun 99286 lar e iH e lel eo 07 o dv Odd 1037135 PCL 839 Jumper and Switch Layout PCL 839 User s Manual 82 ADDRESS ADDRESS DECODER PCL AK STEPPING OUTPUT MOTOR ISOLATOR CONTROLLER PDS1024 ORG EL EL FOR INPUT amp ISOLATOR a 850 SD FUNCTION IRQ DIGITAL OUTPUTS DIGITAL INPUTS PCL 839 High Speed Motor Control Card Block Diagram Appendix A Diagrams 83 gt EXT VCC 1K 5V gt gt PULSE dir A 1K PULSE gt DIR dir DIR gt COM Out
7. PCL 839User s Manual General Power consumption 300mA 5VDC Connector 37 pin D type connector Board dimensions 183 5 mm x 99 06 mm Operatingtemperature 0 to70 C Block diagram ADDRESS ADDRESS c DECOOER W PCL AK STEPPING OUTPUT MOTOR ISOLATOR CONTROLLER DIR amp PULSE OUTPUTS PDS1024 ORG EL EL FOR INPUT amp ET FUNCTION ISOLATOR SD IRQ X P SELECTOR DECODER INPUTS DIGITAL OUTPUTS DIGITAL INPUTS PCL 839 HIGH SPEED STEPPING MOTOR CONTROL CARD Chapter 1 General information 2 Installation Switch and jumper settings Before you install the PCL 839 you need to select the card s base address set the limit switch configurations and the interrupt levelthat the card will use This section describes this procedure in detail Setting the PCL B39 Base I O address S1 The PCL 839 requires 16 consecutive I O addresses DIP switch S1 shown below sets the base I O address Choose abase address that is not in use by any other I O device A conflict with another device may cause one or both devices to fail The factory address setting hex 300 is usually free as it is reserved for PC prototype boards Switch settings for various base addresses appear below Card WO addresses 5 __ m Range hex _ Switch position lO 9 8 7 6 5 4 Addr Line 200 20F e O o 210 21F O o O
8. Format HSPPMOVE dir CH CH CH step step total steps Example SET 1 200 3000 400 FL 200 FH 3000 AD 400 HSPPMOVE 1 5000 RUN Channel 1 ramps up from 200 to 3000 pps It continues stepping at 3000 pps and then ramps down to standstill The total number of steps taken for this action 15 5000 steps 38 PCL 839 User s Manual 4 PCL 839 Software Library Introduction On the floppy disk that came with your PCL 839 card there are C library files These libraries were developed in Turbo C and you should be able do develop your own stepping motor applications in C using these files The source code for the programming library LIB839 C can also be found on the floppy disk This enables you to recompile the libraries for any C compiler although some minor changes may be necessary The following sections describe the files and functions that will assist you when you write applications for the PCL 839 The PCL839 H Header File To be able to use the functions contained in the software library you have to include this header file in your source program include PCL839 H This file contains the headers Prototypes for all the functions defined in LIB839CX LIR PCL839 H contains the following int base 0x300 base address default 0x300 int puls dir 3 used by PCL 839 s function int PO DIO port O 8bit int Pi 1 DIO port 1 8 bit
9. int PO1 2 DIO port 4O h 41 int CH1 1 Channel 1 int 2 Channel 42 int CH3 3 Channel 43 int CH1Z 4 Channel 41 h 42 int CH13 5 Channel 1 amp 3 int 6 Channel Z amp 3 int CHI23 gt Channel 1 42 and 3 int P DIR 0 Positive direction int N DIR 1 Negative direction int FL 0 FL speed int FH 1 FH speed int DIR 0 Direction mode int PUS 1 Pulse mode int out port int portl no int value int in port int port no 40 PCL 839 User s Manual int set_base int b int set_mode int ch int mode int set speed int ch int r1 int r2 int r4 int status int ch int org int ch int diri int Speedl int dir2 int speed2 int dir3 int speed3 int cmove int ch int dirl int speed1 int dir2 int speed2 int dir3 int speed3 int pmove int ch int dirl int speedi long stepl int dir2 int speed2 long step2 int dir3 int speed3 long step3 int stop int ch int sldn stop int ch int waitrdy int ch int slowdown int ch int line int ch plan int x int yl int arc int ch plan int dir long X1 long Y1 long X2 long Y2 NOTE portno 0 1 2 ch except function status_ch ch that ch 1 s 2 5 3 ch plan 4 5 6 dir 0 speed 0 1 mode 0 1 PCL859CX LIB Library file Four library files have bee
10. 0 for port 0 007 0 1 for port 1 DO15 8 2 for ports 0 amp 1 If POI is used output to both ports the high byte of the word will be output to port 1 and the low byte of the word to port 0 Return values 0 No error occurred 1 An error occurred Example s error code out port PO OXAA OXAA to port O error code out port P01 0X55AA 0X55 to port 1 and OXAA to port 0 46 PCL 839 User s Manual Function 10 in_port This function reads and returns the value of a digital input port Prototype int in port int port no Parameters port no D I port number 0 for port 0 DI7 0 1 for port 1 0115 8 2 for ports 0 amp 1 If PO1 is used input from both ports the high byte of the returned value will contain the value of port 1 and the low byte the value of port 0 Return values 1 An error occurred Other Port Value Example s port value in port P0 port value in port P01 Function 11 org This function returns all three channels to the ORIGIN point The direction and speed frequency that each channel has to use are supplied Prototype int org int ch int DIR1 int SPEED1 int DIR2 int SPEED2 int DIR3 int SPEED3 Parameters ch channel number See Function 2 DIRn channel n direction 0 and 1 SPEEDnchannel n frequency O FL 1 Return values 0 No error occurred 1 An error occurred Chapter 4 PCL 839Software Library 47 Examp
11. 16384 x R7 5 R7 Multiplier Register 10 bits For the speed registers Fl and R2 a number of steps can be selected 1 to 8191 This register R7 is used to assign an output frequency for one step The reference clock inputted through the CLOCK terminal is divided and multiplied by the variable frequency divider and the frequency multiplier and then outputted to the PULSE OUTPUT terminal When a set value on the speed register is Rf where Rf is a value set at R1 and R2 the frequency outputted at the PULSE OUTPUT terminal is Reference clock freq Hz x Rf 8912 x R7 Rf x Reference clock freq 8912 x R7 58 PCL 839 User s Manual When reference clock 8192 x R7 1 1 Ix mode When reference clock 8192 x R7 1 2 2x mode For the PCL 839 the reference clock frequency is 4 9152 MHz Therefore R7 600 258 hex 1x mode R7 300 12C hex 2x mode The setting range is 002 hex to 3FF hex which corresponds to 2 to 1023 in decimal notation The smaller the set value the higher the output frequency Chapter5 Register Programming 59 Programming the PCL 839 The PCL 839 stores a selected command in a buffer This command remains there until a new command is received The only command that can be RESET is the starting mode command I O Register Control format The following table depicts the PCL 839 s register I O address map
12. Library 39 Introduction 40 The PCL839 H Header File 40 PCL839CX LIB Library file 41 Function Call Descriptions 42 Chapter 5 Register Programming 53 PCL 839 Registers 54 Programming the PCL 839 60 Command buffers WR4 and WR8 61 Commands 62 Typical Operational Procedures 72 Appendix A Diagrams 81 Jumper and Switch layout 82 PCL 839 Block Diagram 83 Output Circuit Diagram 84 Appendix B Simple Stepping Motor Driver 85 Appendix C utility Diskette Contents 91 Finding your way around in this manual This manual is organized in five chapters and contains three appendixes with additional information The information contained in each chapter is as follows Chapter 1 General Information If you have just purchased the PCL 839 or just need to brush up on its Features specifications you would want to read this chapter Chapter 2 Installation If you have not yet configured and or installed your PCL 839 or need to change the configuration e g s
13. O address This enables you to control multiple PCL 839 cards form one PC should it be required Format BASE port_address port_address base address Erample BASE 0x2CO Sets the base addr to 2CO Hex BASE 704 Sets the base addr to 704 Decimal Chapter 3 839 EXE 25 Using the Circle command CIRCLE CH CH dirc r Uses two channels to draw a circle like a plotter Format CIRCLE CH CH dire r CH 2 are the channels dirc Direction UP DOWN LEFT RIGHT r radius of circle in steps Example s CIRCLE 2 3 UP 250 draws a circle UP with radius 250 steps 26 PCL 839 User s Manual ECHO string Displays a line of text on the screen Format ECHO string string any line of text Example s ECHO This line will be displayed ECHO The stepper motor is running DEBUG ON Switches PROG839 EXE to debug mode In this mode PROG839 EXE will display the commands on the screen but will not output anything to the stepping motor driver This enables the user to check the syntax of the textfile and the channel parameters Format DEBUG ON There are 10 commands that will not affect the output in debug mode They are comment BASE MANUAL CLR ECHO WAITKEY WAITTIME LOOP LOOPEND STATUS and DEBUG OFF DEBUG OFF default setting Reverses DEBUG ON see above All commands will be interpreted and run after this
14. by reading the status register Chapter 2 Installation 11 Hardware Installation After you have set the base address limit switch configuration and the interrupt level as described in the previous section you will be ready to install the card in your PC s chassis The following section will assist you in installing the PCL 839 Warning Disconnect power from your PC whenever you install or remove the PCL 839 or its cables Installing the card in your computer Turnoff the computer and all peripheral devices such as printers and monitors 2 Disconnect the power cord and any other cables from the back of the computer Turn the chassis so that the back of the unit faces you 3 Remove the chassis cover see your computer users guide if necessary 4 Locate the expansion slots at the rear of the unit and choose an unused slot 5 Remove the screw that secures the expansion slot cover to the chassis Save the screw to secure the PCL 839 6 Carefully grasp the upper edge of the PCL 839 card Align the hole in the retaining bracket with the hole on top of the expansion slot and align the gold striped edge connector with the expansion slot socket Press the board firmly into the socket 7 Replace the screw in the expansion slot retaining bracket 8 Replace the chassis cover 9 Connect the D 37 male connector to the PCL 839 s 37 pin female connector Connect the connectorto your stepping motor driver according to the s
15. found at 2 6 and 10 for channel 1 channel 2 and channel 3 respectively When writing output these buffers contain data bits 8 15 of the respective channels Data buffers RD2 RDG and 2010 When data buffers WR2 WR6 and WR10 see above are read input these buffers contain data bits 8 15 of the respective channels if registers RO or R6 was selected see register select command Data buffers WRS WR7 and WR11 One data buffer for each channel is found at BASE 3 BASE 7 and 11 for channel 1 channel 2 and channel 3 Tespectively When writing output these buffers contain data bits 16 amp 17 of the respec tive channels Data buffers RD3 RD7 and RD11 When data buffers WR3 WR7 and WR11 see above are read input these buffers contain data bits 16 amp 17 of the respective channels if registers RO or R6 was selected see register select command The bit definition is as follows 76543 210 TE Highest order 2 bits of RO a register other than R6 was selected 0 Stop INT signal is being output register 86 was selected 0 Down INT signal is being output register R6 was selected 1 SD signal ON 1 SD signal ON 1 Ramping up in progress 5 1 Ramping down progress 1 RO lt R6 0 PULSE signal output H 1 PULSE signal output L Status 1 bit configuration Chapter 5 Register Programmi
16. pulse mode 42 PCL 839 User s Manual Return values 0 No error occurred An error occurred Example s error code set mode CH12 DIR error code set mode CH3 PUS Channels 1 and 2 is set to direction mode and channel 3 is set to pulse mode Function 3 set speed This function sets the low speed pulse output frequency high speed pulse output frequency and acceleration deceleration rate for a channel Prototype int set speed int ch int FL int FH int AD Parameters ch channel number See Function 2 FL Low speed frequency I 16382 pps FH High speed frequency 1 16382 pps AD Acceleration decel rate 2 1023 Return values 0 No error occurred n error occurred Example s error code set speed CH123 400 3000 500 Channels 1 2 and 3 s FL is set to 400 pps FH is set to 3000 pps and AD is set to 500 pps Chapter 4 PCL 839 Software Library 43 Function 4 status This function reads and return the status of a channel Prototype int status int ch Parameters ch channel number 1 channel 1 2 channel 2 3 channel 3 Return values 1 An error occurred Other The high byte will contain the value of Status 1 and the low byte the value of Status 0 Example s int channel_status channel_status status CH1 Function 5 stop This function stops channel ch Prototype int stop int ch Parameters ch channel number See Function 2 Return va
17. ramping down point 1 Automatic setting of ramping down point 1 Ramping up down stops EL ORG signal input mode Stops immediately 1 Ignores puise inputs less than 4 cycles in the reference clock Chapfer5 Register Programming 67 Channel status buffers RDO RD4 and RD8 There are a status buffer for each channel status 0 These buffers are found at BASE 0 BASE 4 and BASE 8 for channel 1 channel 2 and channel 3 respectively These buffers enable you to read the internal status of each channel and also get certain information on input signals or conditions 76543210 EL signal ON EL signal ON ORG signal ON Counter 0 When a register other than R6 is selected When register R6 is selected Frequency is stabilized In operation O a O 68 INT is being output Status 0 bit configuration Data buffers WR1 WR5 and WR9 One data buffer for each channel is found at BASE 1 BASE 5 and BASE 9 for channel 1 channel 2 and channel 3 respectively When writing output these buffers contain data bits 0 7 of the respective channels Data buffers RD1 RD5 and RD9 When data buffers WR1 WR5 and see above are read input these buffers contain data bits 0 7 of the respective channels if registers RO or R6 was selected see register select command PCL 839 User s Manual Data buffers WR2 WR6 and WR10 One data buffer for each channel is
18. 39 provides two 20 pin digital input and output connectors located at CNI digitaloutput and CN2 digital input A variety of daugtherboards can be connected to these connectors The PCLD 782B Isolated D Iboard the PCLD 785B Relay Output Board and the PCLD 786 SSR amp Relay Driver Board are just three examples The pin assignments for these connectors are given below CN1 DIGITAL OUTPUT CN1 D O pin assignments CN2 DIGITAL INPUT CN2 DA pin assignments Chapter 2 Installation 17 3 Prog839 Command Interpreter Introduction Included with the PCL 839 card is a utility command interpreter PROG839 EXE PROG839 EXE is a convenient learning tool for familiarizing yourself with the command set of the PCL 839 and the PCL 839 itself This chapter describes the commands supported by PROGS839 EXE It is not recommended foruse with stepping motor applications software libraries that have been included for that purpose When you write applications for your PCL 839 you can eitheruse the included C libraries or directly access the registers of the PCL 839 as described in Chapter 4 Using PROC839 EXE with textfiles 839 is driven by commands contained in a ASCII textfile You have to create this textfile using any ASCII capable editor oruse the DOS edit command To execute PROG839 EXE use the following DOS command PROG839 filename ENTER where filename is the name of a AS
19. 7 06 05 04 D3 D2 Di DO C1 co Mode Command Selection modes The two high order bits of the command buffer specifies the com mand that will be executed The remaining six bits contain command parameters The command modes available are as follows Selection modes C1 co 0 0 Start Stop Command selection 0 1 Operation Mode Select command 1 0 Register Select command 1 1 Output Mode select command Command Parameters The following sections describe all the available commands and their parameters in detail Chapter 5 Register Programming 61 Commands Start stop Command 7 6 5 4 3 2 1 O oJof TT Tel j Frequency Selection O Use FL frequency 1 Use FH frequency Constant speed mode High Speed mode 20 1 Start stop control O Stop interrupt reset Stop interrupt enable ok o o 1 0 Constant speed operation with the FL register Operates at the speed set for the FL register ojo 1 o o o 1 Constant speed operation with the FH register Operates at the speed set for the FH register Lope per High speed operation with the FH register Frequency ramps up halfway from the rate of the FL to that of the FH During high speed start this command lets the frequency ramp up down to the rate of the FH speed lt 1 1 Dual rate operation ramping down Frequency ramps down to the level of the FL 0 no
20. CH amp CH do draw line from the current position to X p eum position steps LOOP count Loop count times LOOPEND End of Loop MANUAL Manual operation to move or adjust each axis parameter OUT port value Output value value to digital output port porti RUN Execute delayed commands SET CH CH CH FL FH AD Set CH speed SETMODE CH CH CH mode Set output mode of CH to DIRECTION or PULSE mode SLOWDOWN CH CH CH Slow down to FL speed SLSTOP CHf CH f CH Slow down to FL speed and then stop STOP CH CH CH Stop CH immediately also resets CH STATUS Display the current status of all CH WAITDI port value Wait until portis value WAITKEY Wait until any key is pressed PCL 839 User s Manual WAITRDY CH CH CH Wait until CH is ready WAITTIME milliseconds Delay for milliseconds ms Delayed commands executed by the RUN command LSPORG dir CH CH CH Low speed move until limit switch ORG is ON HSPORG dir CH CH CH High speed move until ORG is ON LSPCMOVE dir CH CH CH Low speed move until STOP is executed HSPCMOVE dir CH CH CH High speed move until SLOWDOWN or SLSTOP is executed LSPPMOVE dir CH CH CH step Low speed move with preset value step HSPPMOVE dir CH CH CH step High speed move with preset value step Chapter PROG839 E
21. CII textfile that contains the commands that will be interpreted by PROGg39 EXE and drive the PCL 839 For example to interpret commands fromthe ASCII textfile CURVE TXT you would enter PROG839 CURVE TXT ENTER Once you have entered this command line PROG839 EXE will display the commands fromthe textfile on you computer s monitor and will run the stepping motor When PROG839 EXE is busy executing the script you can abort this process by pressing ESC PROG839 EXE will complete the current step and then exit 20 PCL 839 User s Manual PCL 839aCommand Set List of commands Immediate commands Command amp Parameters Command Description This is a Comment 9 CHf CH dira X Y X Y Use channels CH amp CH to draw an arc from point X to X Y in direction dira BASE port address Set PCL 839 Base Address 9 CIRCLE CH CH dirc r Use channels CH amp CH to draw a circle with radius r steps in direction dirc ECHO string Display a string on the screen DEBUG ON Activate DEBUG mode DEBUG OFF Deactivate DEBUG mode default DISPLAY ON Display the commands on the screen DISPLAY OFF Deactivate DISPLAY ON IN port Read the value of an input port and display it on the screen YQ These commands are useful when you are using two stepper motors in a plotter configuration Chapter 3 PROG839 EXE 21 22 LINE CH CH X Y Use channels
22. Chapter 3 839 29 Example 1 Loop 3 IN 1 Digital input port 1 is read 3 times and the value is displayed on the monitor Example 2 LOOP 3 first loop 3 times LOOP 2 second loop 2 times HSPPMOVE 1 200 OOPEND end of second loop ECHO Two moves completed OOPEND end of first loop Channel 1 moves 200 steps 2 times and then a message is displayed This is repeated 3 times The above syntax is called nested looping PROG839 EXE allows 10 levels of nesting MANUAL This command will turn PROGg39 EXE into manual mode In this mode you can adjust the stepping motor position or the parameters for every channel manually The left and right arrow keys are used to step between the channels When you have finished adjusting the parameters position press ESC The parameters will be saved and used as the default settings Format MANUAL 30 PCL 839 User s Manual OUT port Z value The PCL 839 has two digital output ports 0 and 1 Digital values can be output to external devices on these ports This command is used to write a value to one of the ports Format OUT port value port port number 0 or 1 value value to be output on port Example OUT 0 0X33 OUT 1 55 Hex 33 00110011 will be output to port 0 and then decimal 55 00110111 will be output to port 1 RUN Sometimes it is necessary to output commands to d
23. HSPCMOVE 1 RUN WAITDI 0 0X33 SLSTOP 1 Channel I is set to high speed continious mode until digital input port 0 is equal to 33 Hex then slows down and stops 34 PCL 839 User s Manual WAITKEY No further commands will be interpreted until a key is pressed on the PC s keyboard Example LSPCMOVE 2 RUN WAITKEY STOP 2 Channel 2 is set to low speed mode and stops when a key is pressed on the keyboard WAITRDY CH 7L CHZI CH 21 This command waits until the CH is ready It checks the PCL 839 s status and waits until CHZ bit 6 of STATUS 0 0 Format WAITRDY CH CH CH Example LSPORG 1 2 3 RUN WAITRDY 1 2 3 Channels 1 2 and 3 is instructed to go to ORIGIN point and WAITRDY waits until all the channels s ORG is on WAITTIME ms This command delays any further commands by ms milliseconds Format WAITTIME ms ms delay time in milliseconds Example WAITTIME 500 STOP 1 Delay for 0 5 seconds then stop channel 1 Chapter 3 PROG839 EXE 35 LSPCMOVE G ACH I CH I CH I This command sets channel CH at FL speed in the dir direction until the STOP command is executed Format LSPCMOVE dir dir direction CH is channel number Example LSPCMOVE 3 LSPCMOVE 2 RUN WAITKEY STOP 2 3 HSPCMOVE ACH I CH I CH 11 This command instructs channel CH to ramp up from FL to FH and continue stepping until the STOP SLSTOP
24. PCL 839 3 axis High Speed Stepping Motor Control Card PC LabCard Series User s Manual Copyright This documentation and the software routines contained in the PCL 839 software disk are copyrighted 1994 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmitted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable However Advantech Co Ltd assumes no responsibility for its use nor for any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard isa trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corporation MS DOS Microsoft C and Quick Basic are trademarks of Microsoft Corporation BASIC is a trademark of Dartmouth College Intel is a trademark of Intel Corporation Turbo C is a trademark of Borland International PartNo 2005839010 2nd Edition Printed in Taiwan December1994 Contents Finding you way around in this manual Y Chapter 1 General information 1 Introduction 2 Features 3 Applica
25. RD14 RD14 is used to obtain the interrupt status for each channel It is found at BASE 14 and contains the interrupt status for all three channels When an interrupt occurs this register can be read to determine which channel caused the interrupt If the bit 1 then an interrupt has occured for that channel The bit configuration is as follows bt 76543210 IRQ IRQ IRQ CH 31GH82 CH 1 Note When this register is read bit 0 bit 2 will be cleared Chapter 5 Register Programming 71 Typical Operational Procedures A Initialization Pulse Pulse mode output mode 7 Directlon mode Count stop Output pulse EL ORG sensitivity 7 Command buffer 11000100 Command buffer 4 11100000 E0H Command buffer lt 11000000 COH 72 counts Command buffer 11100100 E4u Counter operation mode 7 Count stop Output pulse counts EL OAG sonsitivity Immediate stop Command buffer 11100110 E6H Command buffer 11000110 C6H Command buffer 11100010 E2H Command buffer 11000010 C2H PCL 839 User s Manual B Setting Speed Data Select the FL Register j af Set FL data Select the FH register Set FH data fe Select the acceleration rate register i 1 Set acceleration rate data Select the ramping down point register
26. Register Select Command 76543210 Register Selection 000 RO Counter 001 RI FL register 010 R2 FH register 100 R4 Acceleration deceleration rate register 110 R6 Ramping down point register 111 R7 Multiplier register Output pulse control 0 Output 1 Nooutput Ramping down point interrupt control 0 Ramping down reset 1 Ramping down interrupt enable Pulse amp Direction logic control 0 Normal negative logic pulse output 1 Reverse positive logic pulse output Register select code Selects an access register with 3 bits After an undefined code 011 or 101 is selected an attemp to write data in address 1 to 3 is unsuccessful 9 Output pulse control Enables operation without outputting a pulse from the PULSE dir DIR dir terminal pin Since it does not influence INT and other signals it can be used as a similation machine lock or a timer Ramping down point interrupt control Chapter 5 Register Programming 65 e PULSE DIRECTION logic control PULSE dir and DIR dir output logic can be changed as follows Direction Directory Mode Pulse Mode PULSE dir DIR dir PULSE dir DIR dir H Description Note Reading is possible when R6 is selected with a register select command 66 PCL 839 User s Manual Output Mode Select Command Pulse Output Mode Directory mode 1 Pulse mode Counter operation mode 0 Count by output pulse 1 Count stop Manual setting of
27. XE 23 Command descriptions This section contains information on how to use the PCL 839 command set A brief description as well as the correct syntax is given for every command Examples are also provided for some commands PROG839 EXE has two kind of commands immediate commands and delayed commands When PROG839 EXE interprets an immediate command it executes it immediately When a delayed command is interpreted it is stored and only executed when the next RUN command is interpreted Only one delayed command can be stored for each channel and if two or more delayed commands for the same channel is found only the last command will be executed when the command is interpreted PROG839 EXE is not case sensitive therefore commands in upper lower or mixed case will be executed similarly The comment string This is a comment The above format is used to leave comments in your textfile PROG839 EXE will not interpret these lines nor will it display them on the screen ARC CH 1 CH 2 dira Xi Y1 X2 Y2 This command is used to draw an are using two stepping motors Format ARC CH 1 CH 2 dira 1 1 2 2 CH 1 2 Channel numbers dira direction CW or CCW X1 Y1 starting coordinates of the are X2 Y2 final coordinates of the are Example ARC 1 2 CW 20 5 5 20 24 PCL 839 User s Manual CW direction Using the ARC command BASE port address Sets the PCL 839 s base I
28. ates of final point Return values No error occurred 1 An error occurred Example s error code arc CH13 1 200 50 50 200 Y 5i 200 50 200 50 200 50 50 200 Central point of arc Current position Chapter 4 PCL 839Software Library 51 5 Register Programming PCL 839 Registers Several registers are used to control the PCL X39 The PCL 839 uses these registers to store commands speed mode number of pulses etc The following sections describe these registers in detail RO Down Counter 18 bits The down counter counts down when a pulse is output in manual mode origin mode or preset mode If the counter is stopped in operation mode counting ceases If a pulse is output when the counter has reached 0 the counter reverts to its maximum number 3FFFF in Hex 262143 in decimal The counter value can be read at any stage in operation or during standstill When reading the value in operation two quick reads must be done before the next pulse changes the value of the counter Compare the two values if they are the same then this is the true number of residual pulses In preset mode you set the required number of pulses on the counter The counter counts down when a pulse is output and pulse generation will stop when the counter reaches O The starting range is 00001 hex to 3FFFF hex 1 to 262143 in decimal notation If the counter is set to O when operation is started no pulse ge
29. command is interpreted DISPLAY ON default setting Tells PROG839 EXE to display each command and its parameters on the screen when it is being interpreted Format DISPLAY ON Chapter3 PROG89S EXE 27 DISPLAY OFF This inhibits display from PROG839 EXE There are 4 commands that will not be affected by this command They are ECHO MANU AL WAITKEY and WAITDI Error messages from the PCL 839 will also still be displayed Format DISPLAY OFF Example DISPLAY OFF BASE 0x2C0 DISPLAY ON The above commands will set the base address to 2CO hex but will not display anything on the screen IN port The PCL 839 has two digital input ports One of these ports are read and the value displayed on the screen Format IN port Port is 0 or 1 Example IN 0 Digital input port O is read and the value is displayed on the screen LINE CH 1 CH 2 XL YL Purpose This command draws a line using 2 stepping motor channels The coordinates used are relative to the current position Format LINE CH 1 CH 2 XL YL CH 1 2 are the channels to be used 28 PCL 839 User s Manual Current position Using the LINE command Example LINE 2 3 300 200 Draws a line to 300 200 LOOP count This command will repeat a command or number of commands count times The command s will be located between the LOOP and LOOPEND commands Format LOOP count count number of repetitions
30. enerators on board which enables the simultaneous and independent control of three axis The PCL 839 provides digital pulse and directional control and for each stepping motor axis User friendly interface The PCL 839 has been designed to act as a user friendly solution for your stepping motor control applications Programming the PCL 839 is very easy C Libraries are provided and they contain all the command functions needed for total control of your stepping motors Stand alone interpreter A stand alone non resident command interpreter PROGg39 EXE can also be used to control your stepping motors without any programming Digital I O The PCL 839 features 16 digital inputs and 16 digital outputs for general use on off control etc Isolation protection The PCL 839 s PULSE and DIRECTION outputs and five limits input switches are isolated from the PC side 2 PCL 839 User s Manual Features Three on board pulse generators that enables simultaneous independent control of three stepping motors Two operating modes two pulse and direction pulse or one pulse pulse direction mode Programmable step rate from 1 to 16k pps pulses per second Programmable initial speed final speed and time duration Automatic trapezoidal acceleration deceleration Tamping is performed 16 I O TTL compatible channels All inputs outputs are optically isolated providing 500VDC isolation protection C libraries contain
31. et a different base address this chapter will give you the information you require Chapter 3 PROG839Commandlnterpreter This chapter describes the utility command interpreter included with the PCL 839 If you want to program the PCL 839 and have not yet used the command set of the PCL 839 this utility program is an excellent tool to help you learn Chapter 5 describes the PCL 839 s hardware registers If you are not familiar with these registers it is advisable to read Chapter 5 prior to starting with this chapter Chapter 4 PCL 839 Software Library This chapter describes the C libraries and the functions they contain If you want to write your own applications in C this chapter will give you all the information you need If you are not familiar with the hardware registers and the naming conventions of the PCL 839 read Chapter 5 before continuing with this chapter Chapter 5 Register Programming This chapter describes the PCL 839 s hardware registers It also contains typical operational procedures that will assist you in program design This chapter is a good place to start getting to know and use the capabilities of the PCL 839 to best suit your application 1 General information Introduction The PCL 839 is a high speed three axis stepping motor control card that simplifies stepping motor control giving you added performance from your stepping motors Three axis control The PCL 839 has three single chip pulse g
32. ifferent channels at the same time The RUN command allows the delayed commands to be executed simultaneously when RUN is interpreted Format RUN Example HSPPMOVE 1 2 4000 LSPMOVE 3 2000 RUN HSPPMOVE instructs channels 1 and 2 to move 4000 steps in the direction LSPMOVE instructs channel 3 to move 2000 steps in the direction These commands are stored and when the RUN command is interpreted it sends these commands to the different motors simultaneously Chapter 3 PROG839 EXE 31 SET CH CH CH FL FH AD This command is used to set a channel s FL FH and AD parameters Format SET CH CH CH FL FH AD FL FL speed 1 to 16382 pps FH FH speed 1 to 16382 pps AD acceleration deceleration rate 2 to 1023 Example SET 1 2 3 400 3000 300 This sets all three channels FL to 400 FH to 3000 and AD to 300 SETMODE CH CH CH mode This command sets the mode for the PCL 839 either pulse mode or direction mode Direction mode means that two signals are used to control the stepping motor one for direction and one for step In pulse mode only one signal will be applied to either direction or direction Format SETMODE CH CH CH mode mode DIR direction mode or PUS pulse mode Example SETMODE 1 2 DIR sets oh 1 amp 2 for direction mode SETMODE 3 PUS sets channel 3 for pulse mode
33. ing device drivers provided Command Interpreter provided that eases learning the PCL 839 command set Applications Precise X Y Z position control Precise rotation control Robotics and assembly equipment Other stepping motor applications Chapter 1 General information 3 Specifications No of Axes Three independent axes individually programmable Operating modes Two pulse mode or direction or one pulse pulse direction mode Steps per command 262 143 in normal mode 524 286 in double frequency mode Step Rate 1 8k pps in normal mode 1 16k pps in double frequency mode Acceleration deceleration ramping User programmable start run and ramping rates Output polarity Positive negative going pulse programmable Pull up voltage external 5 V 12 V Output protection Opto coupled with 1 pull up resistor Output driving capacity 20 mA 0 4 Limit switch inputs 2 Emergency stop inputs 2 Slow down Accelerate inputs and 1 ORG input All limit switches are isolated from the PC Limit switch input voltage external 5 V to 12 V Interrupt channels IRQ 2 4 5 7 10 11 12 or 15 jumper selectable Limit switch types Normal open NO or normal closed NC jumper selectable Digital input output No of input channels sixteen 5V TTL compatible No of output channels sixteen 5V TTL compatible I O address range sixteen consecutive I O addresses
34. is register is used to set acceleration and deceleration characteristics During high speed mode the generator starts at FL and accelerates to FH If the reference clock frequency is TCLK sec TSUD the time required for the ramping up ramping down is Tsup R2 R 1 x RA x T sec Chapter5 Register Programming 55 Alternatively if the ramping up ramping down time is known R4 can be calculated as R4 K R2 Q1 x T 1 The range forR4 is 002 hex to 3FF hex 2 to 1023 in decimal Note for the PCL 839 T 203ns FH SPEED FL R6 Ramping down Point Register 16 bits During high speed operation the value of the down counter is compared with the value of this register As soon as the value of the counter is less than the value of this register ramping down will start If the value of R6 is higher than the down counter when high speed mode starts ramping up will not occur and the pulse generation will proceed at FL The range forR6 is 0001 hex to FFFF hex 1 to 65535 in decimal The ramping down point is set in pulses Setting of the ramping down point If automatic setting of ramping point is selected for the output mode no setting is required for R6 If automatic setting is not selected the value for R6 has to be calculated and written in the register 56 PCL 839 User s Manual When determining the ramping down point the FL frequency the FH frequency and the dece
35. its 23 16 Data high order 2 bits Set the number of ouput pulses Start For Fl Command buffer lt 00010000 10H For FH Command buffer 00010001 11H The status 0 is read Waitlng for completion of operation Completion of operation 74 PCL 839 User s Manual D High Speed Preset Mode Ramp down at set point n Stop at pre set count Command buffer lt 00001000 08H Execute the reset command Effect the ramping mode For 4 direction Command buffer 01000100 44H and select the direction For direction Command buffer 01001100 4CH Select the counter Command buffer 10000000 80H Register bits 7 0 Data low order 8 bits Register bits 15 8 lt mid order 8 bits l bci Register bits 23 16 Data high order 2 bits Start Command buffer lt 00010101 15H The status 0 is read Waiting for completion of operation Bit6 0 Completion of operation Chapter 5 Register Programming 75 E Constant Speed Continious Mode Execute the reset command Effect the manual mode and set the direction Enter the start command Enter the immediate stop command Completion of operation 76 Immediate stop Command buffer lt 00001000 08H For 4 direction Command buffer 01000000 40H For direction Command buffer 01001000 48H
36. le s error code org CH12 P DIR FL N DIR FH 0 0 Channels 1 and 2 s is returned to origin point channel 1 pulses at FL frequency in the direction and channel 2 pulses at FH frequency in the direction Channel 3 is ignored Function 12 cmove This function starts channel s ch in continious mode Channel 1 will move in DIRI direction at SPEEDI speed etc The channel s will stay in continious move mode until stop or stop is executed Prototype int cmove int ch int DIR1 int SPEED1 int DIR2 int SPEED2 int DIR3 int SPEED3 Parameters ch channel number See Function 2 DIRn channel n direction 0 and SPEEDnchannel n frequency 0 FL and 1 FH Return values 0 No error occurred An error occurred Example s error code cmove CH2 0 0 P DIR FH 0 0 Channel 2 is placed in continious move mode and pulses at FH in the direction 48 PCL 839 User s Manual Function 13 pmove This function starts channel s ch in continious mode for a certain amount of steps Channel 1 will move in DIRI direction at SPEEDI speed and will stop when it has completed STEP steps etc Prototype int pmove int ch int DIR1 int SPEED1 long STEP1 int DIR2 int SPEED2 long STEP2 int DIR3 int SPEED3 long STEP3 Parameters ch channel number See Function 2 DIRn channel n direction 0 and 1 SPEEDnchannel n frequency 0 FL andl FH STEPn channel
37. leration rate has to be taken into account If an improper value is set pulse output may be terminated halfway during ramping down Fig A or may continue after ramping down causing longer FL speed operation Fig C Hee 28 setting value is R6 setting value is optimal I RE setling valua is too small several pulsas at FL too large A ramping down point is set based on the number of pulses output during ramping down Therefore the area marked by oblique lines in the chart below is the number of pulses to be calculated FL and FH are the output pulse frequencies Tsd sec the time required for the deceleration is Tsd R2 RD x RA CLOCK 1 where CLOCK 4 9152 MHz The relationship between the set value on speed register Rf and output frequency F PPS is F Rf x CLOCK 8912x R7 _ 2 Chapfer5 Register Programming 57 Therefore FL output frequency FL PPS and FH output frequency FH PPS are FL RI x CLOCK 8192x R7 1 3 FH R2 x CLOCK 8192x R7 1 4 Psd the number of pulses during T sec is represented by the area of the trapezoid A B C F P FH x T 2 5 Substitute equations 1 3 and 4 into equation 5 P R2 R1Y x R4 16384 x R7 sd When outputting 5 pulses at FL speed after the completion of the ramping down the set value of the ramping down register point register R6 is R69 P 5 R6 R2Y R1Y x R4
38. lues 0 No error occurred 1 An error occurred Example s int error code error code stop CH123 Channels 1 2 and 3 are stopped 44 PCL 839 User s Manual Function 6 slowdown This function ramps the output frequency of channel s ch down to FL Prototype int slowdown int ch Parameters ch channel number See Function 2 Return values No error occurred 1 error occurred Example s int error code slowdown CH23 Channels 2 and 3 s is ramped down to FL Function 7 sldn stop This function ramps the output frequency of channel s ch down to FL Prototype int sldn stop int ch Parameters ch channel number See Function 2 Return values 0 No error occurred 1 An error occurred Example s error code sldn stop CH12 Channels 1 and 2 s 1s ramped down to FL and then stopped Chapter 4 PCL 839 Software Library 45 Function 8 waitrdy This function checks the Status0 of channel s ch and waits until bit 6 of Status0 is 0 Prototype int waitrdy int ch Parameters ch channel number See Function 2 Return values 0 No error occurred l An error occurred Example s error code waitrdy CH12 A delay is caused until channels 1 and 2 s Status0 is 0 Function 9 out port This function outputs a value value to port port no Prototype int out port int port no int value Parameters port no digital output port number
39. n included with the software Although all these libraries contain the same functions they have been compiled for different memory models LIB839CS LIB Small model library LIB839CM LIB Medium model library LIB839CC LIB Compact model library LIB839CL LIB model library m If you are using Turbo C one of the above libraries have to be included in the C project file that you are working on Chapter 4 PCL 839 Software Library 41 Function Call Descriptions This section gives a detailed description of the functions available in the library files There are 15 functions in the PCL839 library They are the following Function 1 set base This function sets the base address of the PCL 839 This enables the use of multiple PCL839s if you require to do so Prototype int set_base int BASE Parameters base base address of PCL839 card Return values 0 No error occurred when setting the base address An error occurred when setting the base address Example s int error code set base 0x2C0 Function 2 set mode This function sets the output mode for a channel or group of chan nels Prototype int set mode int ch int mode Parameters ch channel number 1 for channel 1 2 for channel 2 3 for channel 3 4 for channels 1 amp 2 5 for channels 1 amp 3 6 for channels 2 amp 3 7 for channels 1 2 amp 3 mode 0 for Direction one pulse mode 1 for Pulse two
40. n pulse output in pulse mode external power input isolated outputs common point for each channel direction emergency stop limit switch input direction emergency stop limit switch input direction slowdown limit switch input direction slowdown limit switch input original home point limit switch input limit switch common point for each channel PCL 839 User s Manual Example input output circuit connections The figure below illustrates an isolated output connection from the PCL 839 to the stepping motordriver VCC OUT PULSE STEPPING EXT VCC PULSE dir MOTOR DIR dir DIR DRIVER GND Isolated output connection The next figure illustrates a non isolated connection where the PC s 12 V output bias is used ExT vCC gt gt PULSE dir STEPPING MOTOR DIR dir gt gt DRIVER COM gt gt 12V gt gt GND gt Non isolated 12 V bias connection Chapter 2 Installation 15 The next two figures illustrate a TTL compatible output circuit connection and a current drive output connection between the PCL 839 and the stepping motor driver EXT VCC MOTOR DIR ED DRIVER COM 5V GND TTL compatible output connection EXT VCC STEPPING MOTOR Yves DRIVER qe _ sa Current drive output connection 16 PCL 839 User s Manual Digital Input and Output Connectors CN1 CN2 The PCL 8
41. neration will occur At that time the operation flag will indicate the halt condition but the INT signal is not output If counting is interrupted by a deceleration stop or reset command the current counter value is stored and counting will continue as soon as the start command is received As the counter will be at O when operation is complete itis necessary to supply an initial value every time preset mode is started 54 PCL 839 User s Manual R1 FL Register 13 bits This register is used to set the FL initial low speed When started in high speed mode the generator starts at FL and ramps up to reach FH Final High speed If the deceleration stop command is received during high speed operation it ramps down to FL speed and then stops Make sure that you set a FL speed The range for FL is 1 to 8191 0001 to IFFF in hexadecimal notation Relation between a set value and the output pulse frequency vanes according to the value of R7 multiplier register R2 FH Register 11 bits This register is used to set the FH speed The range for FH is also 1 to 8191 0001 to 1FFF in hexadecimal notation The relation between a set value FH 5 5 FE 7 vies eu 1 time 1 time e Bis 52 ga mo gs 8 D and the output pulse frequency also varies according to the value of R7 multiplier register R4 Acceleration ramping up Deceleration tramping down Rate Register 10 bits Th
42. ng 69 Digital Outputs WR12 and WR13 WR12 is the low byte of the digital output and WR13 the high byte To write to these buffers write to BASE12 and 13 respectively The bit definition is as follows bit bit bit 7 6 5 4 3 2 1 O 7 6 5 4 3 2 boss poxe onse oos pora ooo ooo oos oe os oos vos Toce WR13 WR12 Digital inputs RD12 and RD15 RD12 is the low byte of the digital intput and RD13 the high byte To read these buffers address BASE 12 and BASE 13 respectively The bit definition is as follows 7 6 5 4 3 2 1 O 7 6 5 43 2 1 O ene one fone om owe om ov o oo oe on RD13 RD12 Interrupt control WR14 WR14 is the interrupt control register for the PCL 839 and is found at BASE 14 Only one bit bO of the byte is used When b0 1 inter rupts are enabled and when 0 0 disabled If bO 1 and the channel interrupt of the specific channel is also enabled see Start Stop command bit 5 an interrupt will be generated when that channel reaches its stop position 7 6 5 4 3 2 1 O WR14 70 PCL 839 User s Manual control by start stop command bit5 of CH 1 CH 1 interrupt CH 2 interrupt 6 control start stop command bit5 CH 2 CH 3 interrupt 4 control by start stop command bit5 of CH 3 IRQEN BASE 14 BIT0 Interrupt path of the PCL 839 Interrupt Status register
43. open as default When the jumper is set to HI the limit switch uses normally closed as default JP1 JP2 and JPJ selection HI Normally Closed LO Normally Open The figures on the next page illustrate limit switch use and settings Chapter 2 Installation 9 direction direction TABLE i i DRIVER PCL 839 i INPUT ISOLATOR ps OUTPUT ISOLATOR Using Limit Switches 775 TS B e Limit switch is normal close type Limit switch polarity jumper JP1 2 3 must 10 put to HI position Limit switch is normal open type Limit switch polarity jumper JP1 2 3 must to put to LO position Normally open wiring Normally closed wiring 10 PCL 839 User s Manual Interrupt level selection JP4 You have to set jumper JP4 to select the card s interrupt level 2 4 5 7 10 11 120r 15 as shown below Card interrupt default 7 IRQ 15121110 7 5 4 2 RSS JP4 o o o ofofo o Do not select a level that is being used by another device unless you have performed special programming to share several devices on one interrupt You can also control interrupt generation by software If the interrupt is enabled by software and the PCL 839 completes a motion it will generate an interrupt Your program can then determine which channel caused the interrupt
44. or SLOWDOWN command is executed The movement is in dir direction Format HSPCMOVE dir CH CH CH dir direction CH channel number Example HSPCMOVE 1 HSPCMOVE 2 3 RUN WAITTIME 1000 continious move for one second SLSTOP 1 2 3 deceleration stop 36 PCL BSS User s Manual LSPORG d nCH CH I CH ID Channel no CHF is set to low speed FL until limit switch ORG i on Format LSPORG dir CH CH CH Example LSPORG 1 2 LSPORG 3 RUN WAITRDY 1 2 3 HSPORG Q ACH I CH I CH I This command instructs channel CH to ramp up to FH speed from FL speed and to continue moving at FH speed until limit switch ORG is on Channel CH will decelerate to FL when SD goes active and will stop when ORG goes active Format HSPORG dir CH CH CH Example HSPORG 2 RUN WAITRDY 2 Chapter 3 PROG839 EXE 37 LSPPMOVE dir CH I CH CH 1 step Channel CHF is instructed to move step steps in the dir direction at FL speed Format LSPPMOVE dir CH CH CH step step number of steps Example LSPPMOVE 1 2 2000 LSPPMOVE 3 4000 RUN Channels 1 amp 2 moves 2000 steps in the direction at FL speed and channel 3 moves 4000 steps in the direction HSPPMOVE dir CH CH I CH I step Channel CH ramps up from FL to FH and moves in the dir direction at FH speed Channel CH then decelerates and stops The total number of steps taken is sfep
45. output of INT signal at stop 1 output of INT signal at stop 62 PCL 839 User s Manual oo 1 1 1 o o Decelerating stop reset command is required after stop Frequency ramps down to the rate of the FL then stops o olo o 1 o o o Reset command This stops pulse generation under any condition If you start with the start command be sure to reset with the reset command before the next start This gives INT signal and the start command has to be reset Contents in registers RO through R7 are not changed 0 no output of INT signal at stop 1 output of INT signal at stop Chapter 5 Register Programming 63 Operation Mode Select Command 7 6 5 4 3 21 0 1 ORG signal enable 1 SD signal enable 1 Preset enable 0 1 direction direction Lo 1jojo o o o Manual mode Operation initiated in the start mode continues until the stop command is transferred 0 1 0 0 0 011 Origin return mode Operation initiated in the start mode continues until the mechanical origin signal or stop command comes o 1 o o 1 o o Preset mode Operation initiated in the start mode stops when the quantity set for register is reached Operation in the high speed start mode ramps down when the remaining quantity of the counter is less than the quantity set for register R6 0 direction 1 direction 64 PCL 839 User s Manual
46. pecifications outlined in Section 3 1 10 Connect the cables you removed in step 2 Turn on the computer Hardware installation is now complete 12 PCL 839 User s Manual PCL 839 Pin Connections This section assists you in connecting the PCL 839 s 37 pin connector located at CN3 to a variety of stepping motor drivers The following diagrams give the PCL 839 s pin connector assignments and offer some examples of input output circuit connections fromthe card to the driver You should select the example that best supports your application needs and the capabilities of your stepping motor driver Note Output circuit diagrams of stepping motor can be found in Appendix A Chapter 2 Installation 13 The 37 pin female connector CN3 DIR dir PULSE dir EXTVCC COM EL EL SD SD ORG LCOM 14 DIR dir CHA EXT VCC CHA NC DIR dir CHB EXT VCC CHB NC DIR dir EXT VCC CHC NC EL CHA SD LCOM CHA EL CHB 50 CHB ORG CHB NC EL CHC SD LCOM CHC PULSE dir COM NC PULSE dir COM CHB NC PULSE dir COM CHC EL CHA SD CHA ORG NC EL CHB SD CHB LCOM CHB EL CHC SD CHC ORG CHC direction signal output in direction mode or direction pulse output in pulse mode pulse signal output in direction mode or directio
47. position 92 PCL 839 User s Manual I MANUAL EXE I_MANUAL EXE s function is identical to MANUAL EXE except that I MANUAL EXE uses interrupts When the PCL 839 finishes a command the interrupt service routine will sound a bell PCL838CX MB When using C to program the PCL 839 you can use various memory models We have included libraries for the small compact medium and large memory models The files are as follows PCL839CS LIB small model library PCL839CS LIB compact model library PCL839CS LTB medium model library PCL839CS LIB large model library PCL839CX LIB denotes one of the above files The decision of which model to use depends one your application and especially memory usage The relevant module has to be linked when you want to use the PCL 839 function calls PCL839 H PCL839 H is a C language header file and has to be included in your application source file Usage include PCL839 H SYNTAX DOC SYNTAX DOC is a documentation file that contains descriptions of all the commands supported by PROG839 EXE the interpreter program Appendix C Utility Diskette Contents 93
48. put Circuit Diagram 84 PCL 839 User s Manual B Simple Stepping Motor Driver Full Half step select PULSE Power ____ DIRECTION Encoder Control Circuit DC Power of Motor DC Power of Control Circuit Simple Stepping Motor Driver Block Diagram TO POWER CONTROL CIRCUIT Pattern Encoder Connection 86 PCL 839 User s Manual Output Pattern OD OC OB OA FH 1 in all states JP1 at Full Step Control Appendix B Simple Stepping Motor Driver 87 0100 Output Pattern OD OC OA FH 0 In all states JP1 at Half Step Control 88 PCL 839 User s Manual RL Motor s Power RD BE PHD OA OB oc OD From Pattern Encoder 4 phase Stepping Motor Power Control Circuit Appendix B Simple Stepping Motor Driver 89 C Utility Diskette Contents PCL 839 Utility Diskette Disk contents The PC1 839 Utility Diskette contains the following files Directory C MANUAL C MANUAL EXE I MANUAL EXE DEMO 1 C DEMO 2 C PCL839CS LIB PCL839CM LIB PCL839CC LIB PCL839CL LIB PCL839 H Directory INTERPRE PROGS839 EXE CURVE TXT SYNTEX DOC Program descriptions PROG839 EXE PROG839 EXE is a command interpreter for the PCL 839 You can use this program to learn the PCL 839 function commands MANUAL EXE MANUAL EXE is an utility program that enables you to manually control the motor position parameters and calibration of the motor
49. steps max long Return values 0 No error occurred 1 An error occurred Example s error code pmove CH123 P DIR FL 2000 P DIR FH 3000 N DIR FH 2000 Channel 1 moves in direction at speed FL for 2000 steps Channel 2 moves in direction at speed FH for 3000 steps and Channel 3 moves in direction at speed FH for 2000 steps Then they stop Chapter 4 PCL 839Software Library 49 Function 14 line If you are using two stepper motors simultaneously in a plotter typ c configuration you can move to position X Y from the current position 0 0 Both axis are measured in steps Prototype int line int ch plan int X int Y Parameters ch plan channel numbers 12 for channels 1 amp 2 CH13 for channels 1 amp 3 CH23 for channels 2 amp 3 Return values No error occurred 1 An error occurred Example s error code line CH23 200 300 current point i 1 0 0 200 300 50 PCL 839 User s Manual Function 15 arc If you are using two stepper motors simultaneously in a plotter type configuration you can draw an arc from X1 Y1 to X2 Y2 Prototype int arc int ch_plan int dir long X1 long Y1 long X2 long Y2 Parameters ch plan channel numbers CH12 for channels 1 amp 2 for channels 1 amp 3 CH23 for channels 2 amp 3 dir directionO for clockwise 1 for counterciockwise 1 coordinates of starting point X2 Y2 coordin
50. tions 3 Specifications 4 Digital input output 4 General e mcce 9RI eee ese sob gua EE 5 Block diagram 5 Chapter 2 Installation F Switch and jumper settings 8 Setting the PCL 839 Base I O address S1 8 Limit Switch Configuration JP1 JP2 9 Limit Switch Polarity Setting 9 Interrupt level selection JP4 11 Hardware Installation 12 Installing the card in your computer 12 PCL 839 Pin Connections 13 The 37 pin female connector CN3 14 Example input output circuit connections 15 Digital Input and Output Connectors CN1 CN2 17 Chapter 3 Prog839 Command Interpreter 19 Introduction 20 Using PROG839 EXE with textfiles 20 PCL 839 Command Set 21 List of commands 21 Command descriptions 24 iii Chapter 4 PCL 839 Software
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