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PCL601MOD - Anaheim Automation

1. D and number of outputs commands Clockwise Format Description This command sets the direction output to clockwise Soft Limit Input Bit Format Description This command will ramp the clocks down to base speed The move type then determines what will happen In a relative or absolute type motion the PCL601 controller will continue to the set position and stop In a slew type motion the PCL601 controller will ramp down and stop In a home type motion the PCL601 controller will ramp down and run at base speed until the home limit is activated Counter Clockwise Format Description This command sets the direction output to counterclockwise Stop Motion Format Description This command will stop all motion It can also be used to stop the current program that is running L011268 39 April 2015 Thumbwheel index enabled Format Description IO or 1 This command will either enable or disable the ability to use the thumbwheel switches for indexing If enable SW2 must be in the TWS position for the thumbwheel to be connected to the processor Analog position enabled Format Description O or 1 This command will either enable or disable input 1 to be used to set the analog position To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the analog position lower limit and analog position upper limit V
2. The Unit re Connected Yeron 5MHC60 Revision 1 00 2 SMC6OWIN Programmable Indexer Software Version 1 0 0 rm File Setup Frogram Edit Help The Unit re NOT Connected L011268 16 April 2015 Toolbar New Open Save Print Calculator Stop All Connect Tab Sheets SZ SMC6OWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is Connected Yersion SMHC60 Revision 1 00 E Encoder Uptions and Analog Input and l Real Time Motion Registration Inputs Thumbhweel Options Create and Edit Program RealTime Motion Time Motion Monitor and control motion of the controller and control motion Monitor and control motion of the controller the controller ani meals Monitor and change settings for encoder options input on the fly and output on the fly splits ote alee NEL Monitor and change settings to Analog Inputs and the thumbwheel switches wheel Options Create and Edit Programs and Edit Create and Edit Programs Write and edit Write and edit PCL601 stored programs stored Write and edit PCL601 stored programs L011268 17 April 2015 Tab Sheets Real Time Motion 23 SMCE0WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is NOT Connected Home using Set Accelertion Accel Decel 10000 Le I Base Speed Max Speed SE 500 Jog Speed Direction Set Max Deng Motor Current Speed 1500 Step Positio
3. 6 if system_enable 1 FJ 8 absposition 8000 send absolute position 9 command 1 move to stage 3 10 11 return 0 12 4 Ww Parameters go_to_stage3 c DataType Param name PLC No PLC Addres Address Word OptMode Array signed short command 0 4x 1 1 Read Write No signed int absposition 0 4X 15 2 Read Write No bit system_enable 0 OX 1 1 Read Write No Macro triggered by input 2 at stage 2 1 include macrotypedef h 2 Zinclude math h 3 4 int MacroEntry 5 f 6 if system_enable 1 7 8 absposition 0 send absolute position 5 command 1 move back to stage 1 10 11 return 0 12 4 II Parameters go_to_origin c DataType Param name PLC No PLC Addres Address Word OptMode Arra unsigned sh command 0 4X 1 1 Read Write No signed int absposition 0 4X 15 2 Read Write No bit system_enable 0 0x 1 1 Read Write No Macro triggered by input 3 at stage 3 Once the macros are written we can add three separate PLC Control events to trigger them The con figuration shown below is done for each input corresponding to the respective macro Also we arbitrarily chose the execute method to be OFF gt ON so that the macro executes on the rising edge of the pulse It could as well be done on the falling edge of the pulse if the width of the pulse is negligible Note that the PCL601 has active low inputs so in this tutorial we assume that the complement of the pu
4. Encoder and Thumbwheel Commands Goto Encoder Auto Corect Off Encoder Auto Correct On Label 8 A SC C Delay motor Ratio Return from Subroutine CO Dees Window Times to Loop Label C Reset Encoder Court Outer Loop Inner Loop Thumbwheel Index Off Thumbwheel Indes On Move Thumbwheel Index Comment A Y Please chooze a command OF Cancel Command allows the program to jump to the specified label Command inserts a label for goto and loop commands Return from Subroutine Command will return to the last goto and execute the next line of code Command allows a sequence of commands to be looped a specific number of times to Outer Loop a label This label must be before the outer loop command This command cannot be used within an inner loop Command allows a sequence of commands to be looped a specific number of times to Inner Loop a label This label must be before the inner loop command This command can be used within an outer loop Thumbwheel Index Off Command will disable the ability to use the thumbwheel switches to index Command allows the user to use the thumbwheel index Switch 2 must be in the thumb Thumbwheel Index On a wheel position for the thumbwheel to be enabled Relative move command will allow motor to move the defined number of steps set by Move Thumbwheel Index the thumbwheel switches Encoder Auto Correct Off Command will disable the autocor
5. Inputs 8 24VDC Power Input Input 1 Analog input Ground Power Return Input 2 Index on the fly input Input 3 Position Description RS485 Input 4 A Input 5 SW2 in position IN5 6 8 trout 6 sw2 in position INS MA GND This is an isolated ground for RS485 only Position Description Outputs Output 1 Output on the fly output a ES a Position Description Encoder Ground return for encoder Output 5 Output 6 Position Description Limit Switch Inputs Output 7 rad Position Description Driver Outputs EE y 5VDC Supply for opto isolated driver 8 Hard Limit Clock output Soft Limit Direction output E Soft Limit Motor current on off output O 9 oon O nomapie ieee ed driver inputs Connector Descriptions Switch Number Description This connector is for the RS 232 communication and is labeled RS 232 This connector is for the thumbwheel module and is labeled TWS Slide Switch Descriptions Switch Number Description This switch is used to select either RS232 or RS485 This switch is used to select either the thumbwheel or inputs 5 and 6 L011268 8 April 2015 Section 2 Functions Move Number of Steps This command causes the motion to start in the direction last specified This command will move the motor the number of steps given Range 1 to 8388607 Move to Position The move to position command specifies the next absolute position to go to The PCL601 controller automatically s
6. When the home limit switch is contacted the motor will ramp down to base speed reverse direction and continue at base speed until the limit switch is released This is a good way to compensate for any backlash in a system It is also useful for minimizing the number of limit switches needed for homing NOTE The home switch needs to be low during the entire deceleration and reversing time L011268 9 April 2015 Jog Inputs The jog switch inputs are internally pulled up by a resistor making them normally 5 volts To activate the input the pin must be grounded to OVDC All jog switch inputs are internally clamped to 5V thus allowing voltages of upto 24VDC to be used Jog is a manual function The user can select the direction and speed fast or slow by grounding the appropriate combinations of inputs To jog a motor it is necessary to ground the jog input for the direction desired For fast jog both the fast input and jog input for the appropriate direction must be low at the same time By grounding one of the jog inputs the user causes the motor to run at base speed When the fast input is grounded the motor will then accelerate to the programmed jog speed The position register will keep track of the number of steps that are taken during jogging Once a jog or a jog function has been performed the direction register will retain the last direction of movement that is a subsequent go command will be in the same direction as the last jog
7. 10000 steps Finish move Output register 1 Walt 1 msec Output register 0 Disable output on the fly Go to position O Finish move soto TOP End of prograrn 99 Comments Loop to TOP until input 1 1s 0 Turn on Cutput 1 Turn off Output 1 April 2015 Sample Program 4 Sample Program 4 illustrates the setup of the analog speed function and the use of indexing on the fly The system is first homed using home type 1 The next step is to wait for the input register to read 110111 input 2 must be high while input 3 is low all other inputs are not used and input 1 is masked high due to the analog function being used The third step is to slew using the analog input as the maximum speed between 5000 and 10000 steps revolution When input 2 is switched low the unit will index 2500 more steps and ramp down to base speed and stop At the end of the index output 1 will turn on for 100 mS After the output is turned off the unit will be sent back to position 0 The program then is sent back to repeat itself waiting for the input register to be 110111 again bine Command Comments L011268 Acceleration 1000 steps sec sec Base speed 500 stepsfsec Analog speed lower limit 5000 steps sec Analog speed upper limit TUUU0 steps sec Enable analog speed Enable index on the fly Direction COV Home type 1 home limit switch only Home to a physical switch Finish move Position register U Reset position register to U Label
8. Catia Create and Edit Program Encoder CON OFF Output on CON C OFF Index on the C ON C OFF Auto Correct the Fly Fly Set Encoder DR Set Ist Output DR Set Registration o Delay m5 0 Position 0 Index D Set Motor ir Set H of Steps fo Stop Ratio 1 Between Dutputs 0 SES Hard Set Encoder io Set of Output a j Retries d Counts 0 Encoder Delay Motor Ratio Set Encoder Window jo Move H of Steps Encoder Retriez Encoder Window Encoder Reset T Encoder Postion lt lt _ lt Tst Output Position Reset Steps Between Outputs Position to 0 siup ETE of Output Counts Registration Index Yernty Parameters 477 040 10 32AM Encoder Auto Correct Set the encoder autocorrect feature on or off Set Encoder Delay Send the encoder delay parameter to the controller ms Set Motor Ratio Send the encoder pulse to motor step ratio to the controller Send the number of encoder autocorrect retries to the controller When the autocorrect Set Encoder Retries errors Output 8 will be triggered Set BC Send of steps to take between activated outputs to the controller Slew Motor will ramp up to maximum speed and keep moving until the index on the fly input is activated or a stop motion is triggered Stop Hard Stop any motor motion immediately Verify Parameters Updates and displays controllers parameters for this tab sheet L011268 19 April 2015 Tab She
9. Fa b l PLE PLC Farts PLE Control Executing HMI E Function Parts Project Database ar of Bl Port COMO Change Station Num E 1 Text Library Address Tag Addr Type M Address Htl HMIO PLC Ho _ Formal RangeDODOD 1 65535 Code Type BIN 5 Ce ayy Word Length 1 E Use Address Tag Alarm Event Control Type Execute Macro Program Information Information sica Lid Macro ID initialize c Sound Lib Execute Method OFF gt ON EE Datalogger Schedule List L011268 47 April 2015 In a similiar fashion we add a stop motion Function Key as a safety feature This Function Key will send the stop hard command to the PCL601 by triggering a macro The stop hard command code is 5 Refer to page 29 for more details on command codes Note that in this macro and the rest of macros in this tutorial we first check if output 1 is active so that the system will only respond if it has been enabled by the operator 1 include macrotypedef h 2 include math h 3 4 int MacroEntry 5 6 ifisystem_enable 1 7 1 8 command 5 Send stop hard command a 10 return O 11 4 mt PLC Addres unsigned sh command 0 da 1 1 Read Write No bit system_enable o OA 1 1 Read Write Ho Function Key Tag Graphics Control Setting Display Setting Switch Window Change window 0 Framel j Map Key PLC Parts Map Keyboard Disable Function Parts Touch Calib
10. PC serial port via a RS485 converter model number 485SD9TB sold separately This converter will convert the RS232 voltage signals to the compatible RS485 differential 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 PCL601 PCL601 UNIT 1 UNIT 2 CONVERTER 485SD9TB Terminating Resistor To eliminate noise on the transmission lines or when using a 4000 ft or longer cable a terminating resistor is suggested If used the termination resistor need only be added to the last furthest from the converter box PCL601 in the network between pins A and B on the RS485 Terminal Block The value of this resistor should be 120 ohms Axis Selection Each PCL601 is addressed using a programmable register allowing the PC to address up to 99 PCL601 s from one port The PCL601MOD s default axis address is 1 To change the axis use the SMC60WIN soft ware or the command in Direct Talk Mode To verify or check the axis use the SMC60OWIN software of the command The axis designation is nonvolatile and will remain the same until changed by the user Status LED 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 Para
11. Setting HMI Task Bar l HMI Extended Attributes Historical Events Storage Print Setting COM2 Setting R5232 PLE Communication Time Out 3 Protocol Time Out 1 ms 3 Protocol Time Out ms 3 Max interval of word block pack 2 Max interval of bit block pack 8 Max word block package size 16 Max bit block package size 54 Use Default Setting L011268 45 April 2015 Step 2 Now we are ready to start adding components to the interface to be displayed on the HMI For this ap plication we will use a single frame The first component to be added is a system enable button which will toggle output number 1 on the PCL601 For this we use a Bit State Switch and configure it to toggle output 1 Notice that we need to select address type Ox which is the reference address for outputs in Modbus In addition tags are used to display ON and OFF on the button itself The graphics selection is up to the user Bit State Switch Component Attribute e Basic Attributes Bit State Switch Tag Graphics Control Setting Display Setting y in Graph element window Prion E Connect Ee Iw Read Address Same As Write Address HMI Read Address A Write Address PLC PLC Parts HMI Hmo w o HM mu RC o al e a Port COMO Port COMO Bit State Bit State has Change Setting Lamp E Station Num 1 x Station Num 1 E Addr Type Adar type ox Girsch SD Bit State Direct Address 1 IT System Regis
12. command for the analog position input This command is used in conjunction with 69 the analog position enable and absolute position P commands Range O 65 535 Analog position upper limit Format value Description This command sets the upper limit that is used during the calculation following a P command for the analog position input This command is used in conjunction with 9 the analog position enable and absolute position P commands Range O 65 535 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 PCL601 controller Range 0 99 Switch to Modbus RTU Format Vertical bar ASCII character hexadecimal value 0x7C Description This command switches the communication protocol from AAASCII to Modbus RTU Note that the same effect can be accomplished by physically pressing the reset button on the device or powering it down and powering it back up L011268 41 April 2015 Section 5 Troubleshooting Problem Cannot establish communications with the PCL601 Possible Solutions 1 Make sure the PCL601 is using the appropriate communication protocol If connecting to the SMC6OWIN software the device must be in AA ASCII protocol 2 If connecting to an HMI make sure both devices are using Modbus RTU to communicate 3 Make sure the PCL601 controll
13. commands contain four different tab sheets which are Motion Commands If Then and Output Commands Goto For Loops Encoder and Thumbwheel Commands and Analog Registration and Text Commands lll se dd Command E Goto For Loops Encoder and Analog Registration and Text Motion Commands IAT hen and Output Commands E S ECE ec Motion Commands Software section that allows user to enter speeds positions direction etc El WEEN Ee com Software section that allows user to manipulate conditional statements and 1 0 routines Goto For Loop Encoder and Software section that allows user to manipulate branching and loop routines enter Thumbwheel Commands encoder parameters and control the thumbwheel switches Analog Regisration and Text Software section that allow user to enter parameters for analog speed and position lim Commands its index on the fly and output on the fly parameters and text strings to be sent These tab sheets is where the program functions are selected to be added to or to change existing lines of programming code in the Create and Edit Program tab e To add a line of motion control select appropriate command and if required enter the required value for that particular command Then click OK e Comment is optional for any lines of code e The text box above the OK and Cancel buttons will display useful information about each command L011268 22 April 2015 Add Tab Sheets M
14. the PCL601 is illustrated Note The Kinco HMlware software is used to create the interface for this application therefore it is recommended that the user be familiar with this software or refer to the software s user manual for more details regarding its functionality The software can be downloaded at anaheimautomation com System Enabled Initialize parameters Stage 1 complete YES Move system to Stage 2 Stage 2 complete YES Move system to Stage 3 Stage 3 complete YES Move system back to stage 1 Requirements All the other system components must be enabled and disabled by the operator from the HMI using one of the outputs on the PCL601 The following parameters must be initialized Acceleration 1000 Base Speed 500 Max Speed 5000 The different stages of the system will signal the completion of their repective processes through a pulse signal The different stages are positioned as follows Stage 1 position 0 Stage 2 position 4000 Stage 3 position 8000 L011268 44 April 2015 Step 1 We create a new project and set up our HMI PLC serial connection In this tutorial the HMI being used is the Kinco MT4230T model For our PLC we select the Modbus RTU option Modbus RTU Modbus RTU MT500 Co Slave Next the serial port on the HMI is configured HMI Attribute HMI System Information Text Security Levels Setting User Permissions
15. to enter the device s current address as shown below Once the address has been entered the program will try to connect with the device Note that this little application can also be used to switch the device back to Modbus in the same man ner however switching back to Modbus is more easily achieved by repowering the device L011268 68 April 2015 wx Terminal Alternatively the user can use a simple terminal program with the proper serial port settings in order to send the command The free wxTerminal program is provided with the software download and it can be used to send the command Once the program is installed and the connection settings have been configured properly the user can connect to the deivce by going to the File menu on the menu bar and clicking on Connect device To verify the connection the user can send the command 0x01 0x11 CRC as shown below Note that the program takes care of the CRC code so the user can type the command with no CRC If the con nection is correct the user should get a response that contains the version of the device 1 00 Now that the connection has been confirmed the user can send the switch command Command 0x00 0x06 0x00 0x00 0x00 0x0B CRC Once again the user can type the command without the CRC as this will be generated by the terminal program Note that this command will yield no reponse wx Terminal File View Options Extras Help e Leer 01 11 05 O1
16. to find Error a position that is out of its range There was an invalid number of commands and characters sent to the controller Check 64 Range Error l i to see if the parameters are invalid for the command that was sent Transmitt Error k parameters sent back to the PC This is an internal error caused by the ee Controller is in a wrong mode Some commands are good only in programming mode 256 Mode Error while others are good only in direct mode Check the direct mode section to see which commands are good in direct mode Zero Parameters There were no parameters sent to the controller A command was sent to the controller that expected to see parameters after the command The controller is busy indexing The controller is sending out clocks to the driver and 1024 Busy Error l can not execute the next instruction Memory Range The specified address is out of range This is caused by overflowing the program Error memory by having a program that is to large 4096 Memory Com The command pulled from memory is invalid The command that was stored into the mand Error eeprom was non executable by the program This is an internal error 8192 Me There was an error reading the thumbwheel or the thumbwheel is not present Read Error L011268 43 April 2015 Section 6 Tutorials Sample Application using a Human Machine Interface In this tutorial a simple l O controlled application using the Kinco MT4230T Human Machine Interface and
17. 1 will error and stop the program prematurely Repeat Last Move This command will move the motor the number of steps given in the last indexing move This command will not work correctly if the encoder autocorrect function is enabled L011268 11 April 2015 Encoder Commands The PCL601 controller is capable of using a quadrature incremental encoder with A and B channels Encoder Auto Correct This command will enable or disable the encoder feature of the PCL601 When enabled the encoder function will compare the desired position with the actual encoder position If it is not in the correct position a correction move will be made Encoder Delay This sets the wait time which is a specified number of milliseconds after a relative index or absolute move is finished prior to reading the encoder This is used to remove the ringing that might be associated with the mechanics of the system Range 0 to 65535 Encoder Motor Ratio This represents the ratio for the number of encoder pulses to one motor step This ratio must be a whole number For example given a 1000 line quadrature encoder and a 400 step revolution motor the motor ratio is 1000 4 400 10 Range 1 to 255 and must be a whole number Encoder Retries This is the number of times the PCL601 will try to autocorrect the motor shaft posi tion before producing an error When the error is produced Output 8 is triggered Range 0 to 255 Encoder Window This is the allowable e
18. 1000 steps after that 5 times So at position 2000 3000 4000 5000 and 6000 output 1 will turn on for 50uS To only have the output turn on at one position set both the number of steps between outputs and the number of outputs commands to 0 This function must be enabled and will only work during a relative index or absolute position move The output will trigger while going in either direction If you do not want the output to trigger in the negative direction the function must be turned off before the index move is started Index on the Fly This special function uses Input 2 when a motor is slewing to move a predetermined amount of steps set with the registration index command before stopping This function must be enabled and will only work during a slew move The registration index must be set before movement begins Range 1 to 8388607 End of Program The end of program command used within a stored program stops execution of the program This command must be used at the end of all programs Wait In stored program mode the wait command pauses the program for the specified number of mil liseconds Range 1 to 65535 If Then Statements The if then statements are conditional based on the values preset in the program The user can either test each individual input or all inputs at once If the input or input register matches the given value or values then the program will execute the next line If the input or input regis
19. 268 54 April 2015 Data Type signed int Data Width DWORD Integer 7 Decimal 0 Show Plus Sign Off Normal Upper HMI HM DCH gt Pot COMO Use Address Tag T Change Off Normal Lower Station Num 1 i Address Type LW Address Code Type Word Length 4 Format Range DDDDD 0 10255 foo eee Min Value 0 Max Value 3999 coa mm We configure the Numeric Data tab to display position as a double word since the position variable is mapped as two words in the PCL601 Then we add a textbox above the Number Display object to label it as Position gt tit That completes the interface for our application All we have to do now is compile the project fix any er rors we may have and test it Note that in order to connect the HMI to the PCL601 a straight through RS 232 DB9 connector can be used to accompish this i e pins 2 3 and 5 one the PCL601MOD connect to pins 2 3 and 5 on the HMI respectively L011268 99 April 2015 L011268 Posi tion Nenu Task Bar Interface on standby Posi tion Nenu Task Bar Interface during operation 56 April 2015 Sample Programs using the SMC60WIN software These sample programs can be created using the SMC60WIN software described in Section 3 Sample Program 1 Sample Program 1 illustrates a typical application where a system moves to a specific position required The sample program shows how to use the motion and goto in
20. 31 2E 30 o1 11 00 06 00 00 00 OB Serial Status Baudrate Checksum Input Les Um cts ps pen pn v ModbusRTU EOSis lt None gt CH 6 CH CH 3 CH Input is Hex input COMS 38400 8El Connected Sent 12 Recenved 10 Once the device has been switched to the AA ASCII protocol it can be used in direct talk mode or be programmed using the SMC60OWIN software Note that the device can be switched back to Modbus RTU protocol through a manual or power on reset as well as by sending the proper ASCII command described in the AA ASCII protocol command summary L011268 69 April 2015 Appendix 5 ASCII Table for Direct Mode ASCII Symbol Hex Value ASCII Symbol Hex Value ASCII Symbol Hex Value EA O k to Mo ES par O e P ECH Carriage Return Appendix 6 Firmware Revisions Version 1 00 L011268 Initial Release 70 April 2015 Copyright Copyright 2004 by Anaheim Automation Inc 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 Inc 910 East Orangefair Lane CA 92801 The only exception to this would be use of the program examples in this manual Disclaimer Though every effort has been made to supply complete and ac
21. COM PORT Settings Baud Rate 38400 Start Bits None Data Bits 8 Parity Even Stop Bits None Flow Control None Message Framing SR Address Function DELE 1 byte 1 byte up to 252 bytes 2 Ge Address Field The device address of the PCL601 can range from 1 to 99 Address 0 is reserved for broadcasting to all devices It is important to note that no response is obtained from the device when broadcast is used Function Field Valid codes are in the range of 1 255 decimal The device only supports the function codes presented in this manual See Appendix 3 for information on the functions supported by the device Data Field The data field mainly contains the data being written or read as well as other information needed for the specific Modbus function being used See Appendix 3 for more details Cyclical Redundancy Check Cyclical Redundancy Check CRC is a 16 bit value that allows the receiver to verify the validity of the message received The low byte transmitted first followed by the high byte The method used by this device for calculating the 16 bit CRC value can be found in Appendix 2 1 ta is the time it takes to transmit a single character at the implemented baud rate A character is an individual package including the start bit data byte parity bit and stop bit in other words the character is equivalent to 11 bits In addition the message must be continuous with the delay between each charac ter in the same m
22. Function Starting address No of registers CRC Gase Address Function Byte count Reg 3 Reg 4 Reg 5 CRC Geer L011268 65 April 2015 0x04 Read Input Registers This function reads the contents of the input registers in the device Note that the PCL601 only has one 16 bit input register This function is executable at all times Example The following shows the request and response for reading input register number one address 0x0000 The response returns the current 16 bit value of the regster as shown below In this instance the value returned is 0x0010 binary 0000_0000 0001 0000 which tells us the only active input is input 5 Address Function Starting address No of registers CRC Gees Address Function Byte count Input register 1 CRC 0x05 Write Single Output This function forces a single output either ON or OFF Note that the PCL601 only has one 16 bit input register This function is not executable when the device is running a program Example The following shows the request and response for setting output number 3 ON ON OxFFOO OFF 0x0000 The response is simply the echo of the request this confirms that the request has been satisfied Address Function Output address ON or OFF CRC pia Address Function Output address ON or OFF CRC Desi 0x06 Write Single Data Register This function writes a 16 bit value to a single 16 bit data register This function is not executable when the device i
23. In type 1 homing the PCL601 will send clocks until a home limit is reached ramp down to base speed change directions and run at base speed until the release of the home limit input The ramp profile is specified by the base speed max speed and acceleration deceleration values A This command will send clocks out to the PCL601 The only commands that can stop the clocks are stop hard or stop soft Motion can also be stopped by using the limit switch inputs The ramp profile is specified by the base speed max speed and acceleration deceleration values 5 This command will stop all motion It can also be used to stop the current program that is running 29 April 2015 6 Stop Soft Code Description 6 This command will ramp the clocks down to base speed The move type then determines what will happen In a relative or absolute type motion the PCL601 controller will continue to the set position and stop In a slew type motion the PCL601 controller will ramp down and stop In a home type motion the PCL601 controller will ramp down and run at base speed until the home limit is activated 7 Set Max Speed from Analog Input Code Description 7 This command uses the voltage on input 1 to calculate and set the max speed The analog speed position enable register must be set to 1 and the analog speed upper and lower limit values must be written before the execution of this command 8 Set Absolute Position from Anal
24. MI nmo PL y No Port COMO Change Station Num 1 Addr Type LW Address TT System Register Code BIN Word Type Length T Use Address Tag Use the index register April 2015 Bar Graph Component Attribute Basic Attributes Bar Scale Graphics Display Setting Bar Type IESSE Art direction Right BarShape Rectangle T Target Value Iw Border Wio V Background Data Type signed int IT Over Upper Limit ashing IT Over Lower Limit ashing Alarm Lower 20 Alarm Upper 80 gt Min Variable Alarm Lower Upper HMI HMI0 HMI HMIO aig 0 PLC Connecting Port PLC Connecting Port COMO Change Station Num Change Station Num J Address Type LW Address Type LW Address 3 Address 1 Code Type BIN Words 4 Code Type BIN Words 4 Use Address Tag Use Address Tag Format Range DDDDD 0 10255 Format Range DDDDD 0 10255 Next we will add three Bit State Lamp objects to represent the three stages and to visualize the comple tion of each stage Each bit state lamp is configured to represent an input on the PCL601 these inputs are connected to the lines that will signal the end of each stage Inputs 1 2 and 3 are used in this tutorial Note that we select address type 1x which is the reference address type for inputs in Modbus L011268 50 April 2015 Normal Priority Basic Attributes Bit State Lamp Tag Graphics Display Setting Read Address Li
25. PCL601MOD Programmable Step Motor Controller User s Guide UTOMA TION 910 East Orangefair Lane Anaheim CA 92801 714 992 6990 fax 714 992 0471 e mail info anaheimautomation com website www anaheimautomation com Wasi ANAHEIM AUTOMATION INC L011268 April 2015 Table of Contents Section 1 Introduction EE 3 Describir 3 Methods OT COMMUNICA Nata 4 A ee 4 RS232 Protocol SW TAIN RS232 POSION BEE 4 RS489 ge e leie EEN Laf E En Le Le EE 4 Terminating RESIS A A AN 5 SA a E Seve a Oe er eee ee ee eee 5 SAUS LED EEN 5 Merac With A DIVo EE 5 Technical SUP OOM GE 5 lectica Eeer el HE 6 Ordering IMO ue DEE 6 IMENSIONS SWITCH Ee e e E T WINo Diag ANAS necie a a a a a a A O gacdeesdeeosementecates T TOn MB Te 4 9146 y EE 8 Connector DESCHPUONS iria dida 8 olde SWEN DESCHPIONS EE 8 Section a Lei de EE H Section 3 SMC60WIN Software E 13 SI NEE 14 Setup Men test tica 14 SEUD AMS MENE A Ao 14 FOG TaN Menta e eten thea scat 15 Program Autostart Program Men UE 15 BE IV VS sa cca Sane atin Daves a asas 15 FASO UE EE 16 The Unit is Connected The Unit is NOT Connected cuiii eana 16 leie er E EE 17 Ee NEE EE 17 Add Change lnsernt ele ln ET EE ER e Fe EE EE 27 Section 4 Communication ProtocolS ooccoccconnccnnccnnencccnnccnnccnncconccnnrnnnrnnnrnnnrnnnrnnnrnnnrnnrrnnrrnnrrnanenanenn 28 MODUS a eee ne eae ee 28 Anahe Atoma E TEEN 32 SECON 5 MOUDICSNOOUNG BE 42 ETOC OUE ER 43 SECUON O TUTONAIS
26. T commands Analog speed enabled Format Description O or 1 This command will either enable or disable input 1 to be used to set the analog speed To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the analog speed lower limit and analog speed upper limit TT commands Analog speed lower limit Format Description Range value This command sets the lower limit that is used during the calculation following an M command for the analog speed input This command is used in conjunction with 699 the analog speed enabled and max speed M commands 1 50 000 Analog speed upper limit Format Description Range L011268 J value This command sets the upper limit that is used during the calculation following an M command for the analog speed input This command is used in conjunction with 6 9 the analog speed enabled and max speed M commands 1 50 000 40 April 2015 A Number of outputs during output on the fly Format Alvalue Description This command sets the number of times output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly en abled command Range O 255 Analog position lower limit Format value Description This command sets the lower limit that is used during the calculation following a P
27. TOR If input register 59 then execute the next line Input 2 high Input 3 low Goto INPUTGODO Goto TOR LabelFINPUTGOOD set max speed from analog input Registration index 2Z500 steps Direction CAN olew Finish move Output register 1 Turn output 1 on Wat 100 msec Output register Turn output 1 off Go to position O Finish move Goto TOP End of program 60 April 2015 Sample Program 5 Sample Program 5 illustrates a typical 3 axis application where one PCL601 Axis 0 is controlling the other two axes Axis 1 and Axis 2 by using the send text string commands Note that because the send text command is being used this sample program is intended to run with the device configured to use the AA ASCII protocol The program first sets the accelerations base speeds and maximum speeds for each axis It then is enabling Axis O and Axis 1 to use the thumbwheel switch that is connected to each unit for indexing The direction is then set for Axis O and Axis 1 and these two axes are then told to index the distance set in each thumbwheel at the same time The program then waits for the motion to finish before it tells Axis 2 to move Axis 2 first moves in the negative direction waits for the index to finish and then moves back in the positive direction After Axis 2 is finished moving Axis 0 and Axis 1 are both sent back to their zero positions at the same time The program is then repeated Line Command Comments E 1 Accele
28. Version SHMHC60 Revision 1 00 Print Ctrl P Eei Ctrl hcoder Options and Analog Input and l E ele Twb wed Oae Create and Edit Program Setup Menu R SHCEOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edt Help Connect E Disconnect Com Fort gett HIE Real Time Motion The Unit re Connected Ce Yeron SMC60 Revision 1 00 Encoder Options and Analog Input and l Registration Inputs Thumbhweel Options Create and Edit Prograrn Setup Axis Menu Connect E Disconnect Com Port Settings ais e Real Time Motion Lime ick a The Unit 1s Connected WYersion 5SMC60 Revision 1 00 Select Axis Sets the axis select parameter in the SMC60WIN software 1 99 Sets the programmable address in the controller 1 99 L011268 14 April 2015 Program Menu File Setup Program Edit Help Start Program Stop Program View Program The Unit is Connected WYersion SHC60 Revision 1 00 Upload Program Clear Program Memory Autostart Program Start Program Start the execution of the program in the controller memory Program Autostart Program Menu File Setup Program Edit Help Start Program The Unit is Connected stop Program Version 5HC60 Revision 1 00 View Program Upload Prograrn Clear Program Memory Analog Input and one and humbhweel Options Create and Edit Program Autostart Pro
29. a soft limit switch is activated the motor will decelerate and run at base speed during an indexing move or stop during a slewing move Be sure to come back past the soft limit switch to set any origins otherwise the motor will decelerate as it goes past the soft limit switch during normal opera tion Home Limit Input This switch is used to establish a position designated home or datum position us ing the following home to soft and home limit or home to home limit This limit is not directional Home to Soft Home Limit 2 Switch Operation This type of homing routine requires two grounding type limit switches called home and soft The first limit switch seen is the soft limit This will deceler ate the motor down to base speed The motor will then continue to run at base speed until it contacts the home limit switch input causing the motor to stop The home limit switch activates as a hard limit if a soft limit is not sensed The soft limit is directional meaning that it will work in only one direction as specified The soft limit switch will work for any type of motion command The home limit switch will work only for the two home motion commands NOTE There should be sufficient distance between the two limit switches as to let the motor reach base speed Home to Home Limit 1 Switch Operation This type of homing differs in that only one limit switch is needed In this homing routine the motor moves toward the home limit switch
30. ands This value must be set before motion begins N value This command sets the number of clocks for the PCL601 to send out following a G command It is also used to set the registration index during and index on the fly move Motion is not activated by this command it only sets the index register O 8 388 607 N This command reads the thumbwheel switches to set the number of clocks for the PCL601 to send out following a G command For this command to work SW2 must be in the TWS position and the thumbwheel enable bit must be enabled Motion is not activated by this command it only sets the index register This command is used in conjunction with the thumbwheel enabled command OR value This command sets the output register according to the binary value entered Output 1 is the LSB and output 8 is the MSB 0 255 O output 0 or 1 This command sets the selected output either on or off A 1 will turn the output on OVDC and a 0 will turn the output off open Range 0 8 36 April 2015 P Absolute position and analog position Format 1 P value Description This command calculates and sets the number of clocks for the PCL601 to send out following a G command Motion is not activated by this command it only sets the register N P Z Range 8 388 607 to 8 388 607 Format 2 P Description This command uses the voltage on input 1 to calculate and set the number of clocks for the PCL601 to send out fol
31. command Inputs All inputs except input 1 are internally pulled up by a resistor making them normally 5 volts To activate the input the pin must be grounded to OVDC All inputs are internally clamped to 5V thus allowing voltages of upto 24VDC to be used Six inputs are provided per axis The inputs are TTL CMOS and 24V compatible The inputs may be used to initiate a machine cycle for inter axis coordina tion in stored program mode for operator intervention for sensing a machine condition such as out of stock or wait for temperature to be reached etc A grounded input will read a 0 and an open or high input will read as a 1 Input 1 is a special input that is capable of reading an analog voltage between O and 5VDC Since this input does not have a pull up resistor biasing of this input is needed if it is not used as an analog input Inputs 5 and 6 are used together with the thumbwheel switch To use inputs 5 and 6 SW2 must be in the IN5 6 position If SW2 is in the TWS position then these two inputs are not connected to the processor Analog Input Input 1 can be configured to read an analog voltage to either set the absolute position of the motor or to set the maximum speed of the motor To set the position when told via the goto analog position command the input will read a voltage between 0 and 5VDC and based on the upper and lower limits of the function a move will occur to a calculated position between th
32. curate information in this manual the contents are subject to change without notice or obligation to inform the buyer In no event will Anaheim Automation Inc 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 Inc products are warranted against defects in workmanship materials and construction when used under Normal Operating Conditions and when used in accordance with specifications This warranty shall be in effect for a period of twelve months from the date of purchase or eighteen months from the date of manufacture whichever comes first Warranty provisions may be voided if the products are subjected to physical damage or abuse Anaheim Automation Inc 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 Inc IBM PC is a registered trademark of International Business Machines Inc ANAHEIM AUTOMATION INC L011268 April 2015
33. d heaters For inductive loads it will be necessary to connect a clamping diode refer to specification section from the output to the power source in order to provide adequate fly back protection The out puts are current sinking open collector darlingtons They are capable of sinking up to 100mA per output with voltages up to 40VDC Turning an output on will pull the output pin to ground and turning an output off will make the output pin open Output 1 has a special function output on the fly that will enable it to be triggered at a certain absolute position during a move Output 8 has a special function that will trig ger when the encoder retries function fails L011268 10 April 2015 Output on the fly This special function enables output 1 to turn on during a relative index or absolute move There are three critical portions of information needed to make this function work correctly First output 1 will turn on OVDC for a preset delay of 50uS at a specific absolute position set by the 7st output position command Second the output can then repeat this after a preset amount of steps set by the number of steps between outputs command and third a predetermined amount of times to set the output is required by the number of outputs command which determines the preset amount of times to trigger the output So if you start at position O and want to move to an absolute position of 10 000 you can set output 1 to turn on at position 2000 and every
34. d to calculate the encoder position therefore before the next move is made the relative register needs to be set This command is used in conjunction with the encoder delay ED encoder ratio EM encoder retries ER and encoder window EW commands L011268 33 April 2015 ED Encoder delay Format Description Range ED value This command sets the wait time a specified number of milliseconds after a relative index or absolute move is finished before reading the encoder This is used to remove the ringing that might be associated with the mechanics of the system This command is used in conjunction with the encoder autocorrect EA command O 65 535 EM Encoder motor ratio Format Description Range ER Encoder retries Format Description Range ET Encoder reset Format Description EM value This represents the ratio for the number of encoder pulses to one motor step An example is for a 1000 line quadrature encoder and a 400 step revolution motor the motor ratio is 1000 4 400 10 This command is used in conjunction with the encoder autocorrect EA command 1 255 ER value This is the number of times the PCL601 controller will try to autocorrect the motor before erroring This command is used in conjunction with the encoder autocorrect EA command When the autocorrect errors Output 8 will be triggered O 255 ET This command will reset the internal encod
35. e fly enabled Switch to Modbus RTU J Fast jog speed Clockwise direction L011268 32 April 2015 A Acceleration Deceleration Format A value Description This command sets the acceleration profile which is an integer value between 100 and 9 999 999 The higher the value the faster the motor acceleration Range 100 9 999 999 B Base speed Format B value Description This command sets the base start speed for motion This value must be set be fore motion begins and be less then the maximum speed and fast jog speed Range 1 5 000 C Number of steps between outputs during output on the fly Format C value Description This command sets the number of steps between when output 1 turns on during an output on the fly move If only one output turn on is needed set this value to 0 This command is used in conjunction with the output on the fly enabled command Range O 65 535 D 1st Output on the fly position Format D value Description This command sets the position at which output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly enabled command Range O 65 535 EA Encoder autocorrect enabled Format EA O or 1 Description This command will either enable or disable the encoder autocorrect function To enable the function use a 1 to disable the function use a 0 When this function is enabled the relative register is use
36. e mapped to a single 16 bit register Input registers are referenced to as 3x Address 3x Access Description Inputs 1 6 and Hard and Soft Limits The input register holds the status of the outputs in the following arrangement O SoftLimit Hard Limit L011268 63 April 2015 Appendix 2 CRC Generation Algorithm CRC OxFFFF REF OxA001 CRC CRC xor data_byte CRC and 1 0 Y ES CRC gt gt 1 MSB 0 CRC gt gt 1 MSB 0 NO CRC CRC xor REF Were all 8 bits processed ereall the bytes in the message processed YES CRC ready The Cyclical Redundancy Check is a 16 bit number calculated by the device after receiving and before transmitting a Modbus message using the procedure outlined above The 16 bit reference value used is the hexadecimal number 0xA001 The CRC value is transmitted as the last two bytes of the message with the low byte byte being transmitted before the high byte CRC gt gt 1 CRC CRC shifted once to the right MSB Most significant bit L011268 64 April 2015 Appendix 3 Supported Modbus Function Codes The Modbus protocol provides a wide range of functions as published by Modicon s Modbus Protocol Reference Guide This device however only implements the standard read and write functions that are commonly used between devices that use the this protocol The functions supported by this device are described below 0x01 Read Outputs This f
37. e two limits The motor must finish the move before it can be told to read the input again for the next position For example if the lower limit is set to O and the upper limit is set to 5000 and the analog position is set at 2 0VDC then the motor will move to position 2000 Changing the lower limit to 1000 and the voltage to 3 2VDC the motor will move to position 3560 See examples below for calculations of the analog inputs Range of limits O to 65535 and the lower limit lt upper limit To set the max speed when told via the set analog speed command the input will read a voltage between 0 and 5VDC and based on the upper and lower limits of the function a max speed can be obtained based on a calculated frequency between the two points The speed however can not be changed when the DPY50601 is busy moving See examples below for calculations of the analog inputs Range of limits O to 50000 and the lower limit lt upper limit Analog calculations Examplel Example2 Upper Lower Voltage 5 X 5000 0 2 5 2000 5000 1000 3 2 5 2560 Lower X Position or Frequency 0 2000 2000 1000 2560 3560 Outputs Eight outputs are provided per axis Outputs may be used to operate relays coolant valves air cylinders or with the correct interfacing any electronically controlled device The outputs can drive all types of common peripheral power loads including lamps relays solenoids LED s printer heads an
38. ee 44 Appendix 1 POLGOTS Memory e EE 62 Appendix 2 CRC Generation Aldo dt EEN 64 Appendix 3 Supported Modbus Function CGodes 65 Appendix 4 Switching to ARAS CIP EE 68 Appendix 5 ASCII Table for Direct Mode ooccooccocccccncocncocncoconooncooncoonconnnonnnonnnnnnnnnnoncnoncnonnncncncnonans 70 Appendix 6 Glenn VE e EE 70 L011268 2 April 2015 Section 1 Introduction The PCL601 is a Modbus RTU slave single axis stepper motor controller containing 2 Kbytes of nonvola tile stored programming space and quadrature encoder feedback The user can control the device with a Human Machine Interface as well as write a program and then have the PCL601 autostart the program on power up It provides flexible independent control of stepper motors from computers or any machine controller with a serial port It is also capable of standalone operation making it an embedded machine controller The easy to use Windows software SMC6OWIN can be used to directly control motion and to program the PCL601 The PCL601 also has the ability for real time functions Direct Mode is used to directly control motion for Real Time Movements through serial communication The PCL601 has a comprehensive range of commands which are easy to remember for direct movement of a stepper motor The PCL601 communicates via either an RS232 or RS485 bidirectional serial data bus Up to 99 PCL601 s can be networked from one communication port on your PC or PLC utilizing
39. em Register lo oil Code on Word Two BIN Se Format Range DDDDD 1 65535 Use Address Tag Use the index register Description Write Address HMI HMIO Port COMO Change Station Num 1 Addr Type LW Address System Register Type Length Code BIN Word Use Address Tag Use the index register Cancel Help We repeat this configuration for the second multiple state display object with the only difference that we reverse the values that we map our two states to this way one of them will be active when the system is moving right and the other when the system is moving left L011268 53 April 2015 Then we add the Number Display which will display the position of the system Number Display Component Attribute Basic Attributes Numeric Data Font Graphics Display Setting Graph element window x Connector Priority Normal HMI PLC Read Address Write Address PLC Parts Meter Recipe Data H mp ME o HMI oun i Port COMO Port COMO E Change Change E 8 Station Num P Station Num Event Display Indirect Window Addr Type Addr Type LW V Address 13 O System Register Address l TT System Register Type Length Type Length Format Range DDDDD 1 65535 Use Address Tag Use Address Tag Number Text Input Input IT Use the index register Use the index register 26 Function Parts Mm Project Database L011
40. entered directly as the number of steps per second Range 1 to 50000 Motor Current This command will control the on off output which is designed to connect to the on off input of Anaheim Automation s step motor drivers To energize and allow current to flow through the coil of the motor set the value to on To de energize and turn the current off to the motor set the value to off This is a dedicated output and not controlled with the output register Verify The verify command causes the PCL601 controller to send data back to the PC or PLC The data is sent as an ASCII decimal string followed by a carriage return and a line feed The verify com mands are shown in the table on page 38 L011268 12 April 2015 Section 3 SMC60WIN Software The SMC60WIN software is a handy utility that supports Anaheim Automation s line of PCL601 s step motor controllers Connecting your PC to the PCL601 via a serial cable the SMC60WIN software can easily perform the following tasks e Exercise and monitor the PCL601 controller e Write and edit stored programs for standalone operation e Directly communicate with the PCL601 controller Note The SMC60WIN Software communicates with the PCL601 using the AAASCII protocol The device is set by default to use the Modbus RTU protocol so in order to interface it with the software the device must be switched to use the AA ASCII protocol This can be achieved in a couple of ways the user can use an HMI to w
41. er count register to 0 EW Encoder window Format Description Range L011268 EW value This is the allowable error in encoder pulses either plus or minus from the desired position that is allowed before the motor autocorrects This command is used in conjunction with the encoder autocorrect EA command O 255 34 April 2015 G Go number of steps Format Description H Home Format Description Home Types Read inputs Format 1 Description Format 2 Description Range J Fast jog speed Format Description Range L011268 G This command is used to send a set number of clocks out of the PCL601 control ler An N or P command must be entered before the G command The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands HIO or 1 HO In type O homing the PCL601 will send clocks until a soft limit is reached then ramp down to base speed Clocks will continue at base speed until a home limit is reached The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands H1 In type 1 homing the PCL601 will send clocks until a home limit is reached ramp down to base speed change directions and run at base speed unit the release of the home limit input The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands IR T
42. er has power Is the Green LED on 4 Check the RS232 RS485 connections 5 Check for loose cable connections either on the PCL601 controller or COM Port 6 Was the software installed successfully 7 Go to Setup Com Port Settings and verify COM port and baud rate settings 8 Go to Setup Axis and verify address settings are the same 9 Click on Setup Connect icon to communicate with the PCL601 controller 0 10 If problems still exist contact Anaheim Automation Tech Support 910 East Orangefair Lane Anaheim Automation Inc Anaheim CA 92801 1195 Tech Support phone 714 992 6990 fax 714 992 0471 www anaheimautomation com Problem There is no power to the PCL601 controller Possible Solutions 1 Is the PCL601 controller connected to the appropriate power supply 2 Check for any blown fuses in line with the PCL601 controller 3 If problems still exist contact Anaheim Automation Inc Tech Support Problem My program won t Autostart Possible Solutions 1 Verify that the Autostart Function has been enabled 2 If the device is connected to an HMI write the command code 14 to the command register and restart device See page 29 for more details 3 Go to Setup Autostart Program click on Enable and restart device 4 If problems still exist contact Anaheim Automation Tech Support L011268 42 April 2015 Problem The PCL601 controller has a fault condition Possible Solutions 1 Verify
43. essage being no longer that 1 5t char Le 11bits 38400bits s 286 5us 1 5t 430ps 3 5t 1ms char char L011268 28 April 2015 Command Register The command register in the PCL601 is a Modbus compliant data register 4x reference that allows the user to send live commands to the device This register is mapped as register one and it can be read or written to however this register only works a buffer register for the command code being sent to the device Once the command is being executed the command register value will read as zero The com mand codes that can be sent to the device through the command register range from 1 15 and they are presented below 1 Go Code Description 2 Home Type 0 Code Description 3 Home Type 1 Code Description 4 Go slew Code Description 5 Stop Motion Code Description L011268 1 This command is used to send a set number of clocks out of the PCL601 control ler The number of steps or absolute position data register must be written to before this command The ramp profile is specified by the base speed max speed and acceleration deceleration values 2 In type 0 homing the PCL601 will send clocks until a soft limit is reached then ramp down to base speed Clocks will continue at base speed until a home limit is reached The ramp profile is specified by the base speed max speed and acceleration deceleration values 3
44. ets Analog Input and Thumbwheel Options 23 SMCE0WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Analog Max ON C DEE Analog CDN COFF Speed Input Position Input Set Speed ku Set Position fo Lower Limit 300 Lower Limit d Set Speed hem Set Position fo Upper Limit 1500 Upper Limit d Set Analog Goto Analog Speed Position Stop Hard EA Encoder Options and Analog Input and Real Time Motion Registration Inputs Thumbhweel Options The Unit is NOT Connected Create and Edit Program Thumbwheel ON OFF Index Hove Thumbwheel Stop Index Hard Analog Speed Lower Analog Speed Analog Speed Upper Analog Position Lower Analog Position Analog Position Upper Thumbwheel Index Not Enabled Venfn Parameters Verify Parameters Updates and displays controllers parameters for this tab sheet L011268 20 April 2015 Tab Sheets Create and Edit Program E SMCE0WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help GC La Tol a di i SE GEET Encoder Options and Create and Edit Se eect ee Registration Inputs Program Lime Command Bi 1 End of program The Unit is NOT Connected Comments Send Program to Controller View Program in Controller Upload Program from Controller C Program Files SMC60W IN temp_mdb d 4 7 04 3 44 PH ve Send Program to Controller Send curren
45. ets the direction and number of steps needed to go to that position Range 8388607 to 8388607 Slew The slew command will accelerate the motor up to maximum speed and continue to run at that HU speed until reaching a registration mark hard limit switch soft limit switch receiving a stop hard or HU stop soft command Set Position The set position command sets the position register to a designated value The number will be the new absolute position of the motor The default value is 0 Range 8388607 to 8388607 Limit Switch Inputs The limit switch inputs are internally pulled up by a resistor making them normally 5 volts To activate the input the pin must be grounded to OVDC All limit switch inputs are internally clamped to 5V thus allowing voltages of upto 24VDC to be used Hard Limit Inputs When a hard limit switch is encountered the motion will stop immediately The posi tion counter will also cease counting Hard limits are intended as an emergency stop for your system It should not be used to do any positioning type functions These limits are directional Soft Limit Inputs These switches should be used exclusively for homing Once positioned properly with the appropriate parameters it causes the motor to ramp down to the base speed before encoun tering the home limit switch However the soft limit switch will work for any type of motion command These limits are directional NOTE Whenever
46. gram Disable Enable Program will disable the execution of a stored program at power up Program will start execution when controller is powered up Edit Menu SZ SMC6O0WIN Programmable Indexer Software Version 1 0 0 ae File Setup Program Edit Help Add The Unit 15 Connected Change Version SMC60 Revision 1 00 Insert Delete icoder Options and Registration Inputs Real Time Motion Analog Input ard i E Otters Create and Edit Program Adds a new line of code to the end of the progam Edits the currently selected line of code Insert a new line of code before the currently selected line of code Deletes the currently selected line of code L011268 15 April 2015 Help Menu 2 SMC6OWIN Programmable Indexer Software Version 1 0 2 File Setup Program Edit Help Error Coder Reader PCL601 User s Guide WIAA AFAR eimaubom ation com The Unit is Connected WYersion SHC60 Revision 1 00 Opens up the User s Guide in pdf format Opens up the Anaheim Automation Website Displays the version of the SMC60WIN and contact information The Unit is Connected The Unit is NOT Connected On the right of the Toolbar the user will find the communication status of the PCL601 controller If communications are not established please refer to the Troubleshooting Section SZ SMC6OWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help
47. his command returns the complemented binary value of the inputs to the PC The inputs will read as O when they are open or high On the other hand they will return a 1 when they are grounded For example if all inputs are active grounded the command will return a 63 If all inputs are inactive open the command will return a 0 Input 1 is the LSB and input 6 is the MSB input This command returns the binary or logic value of the selected input to the PC If the input is open or high it will return a 1 If the input is grounded or low it will return a 0 1 6 J value This command sets the fast jog speed This value must be set before motion begins and be greater than the base speed 1 50 000 35 April 2015 M Max speed and analog speed Format 1 Description Range Format 2 Description N Number of steps Format 1 Description Range Format 2 Description O Set outputs Format 1 Description Range Format 2 Description L011268 M value This command sets the maximum running speed for motion This value must be set before motion begins and be greater than the base speed 1 50 000 M This command uses the voltage on input 1 to calculate and set the max speed The analog speed must be enabled for this command to work This command is used 69 in conjunction with the analog speed the analog speed lower limit and the analog speed lower limit comm
48. ily retrieve them when needed L011268 3 April 2015 Methods of Communication There are a few methods for communicating with the PCL601 The first is to use a Human Machine Interface that supports the Modbus RTU protocol With this method the user can create a custom graphical interface and I O controlled process to be run on the HMI and control the PCL601 Through the HMI the user can control all the features of the controller as well as monitor its operation It is important to note that this method can only be used in the Modbus RTU protocol using either an RS232 or RS485 connection The second mehod is to directly send commands to the device via a terminal program and a Serial connection either RS232 or RS485 In order to do this the user must first switch the device to use the AA ASCII communication protocol by writing the command code 11 to the command register see page 29 Once in AA ASCII mode the user can use AA ASCII commands described in this manual in order to control the features of the PCL601 Another way to give commands to the device is to use the software program SMC60WIN to either manually control or to write and send programs This method is mainly used for programming the device so that it can automatically execute the given program For example this device can replace simple motion control and or UO functions when minimal quantities of I O are required to control specific machinery Simple motion profiles that can operate w
49. ith 6 or less inputs and 8 or less outputs can utilize this controller In addition once the controller has been programmed it can be interfaced to an HMI so that its operation can be monitored and or stopped at any given time if necessary Baud Rate Aterm used frequently in serial data communications a baud is defined as the reciprocal of the shortest pulse duration in a data word signal including start stop and parity bits This is often taken to mean the same as bits per second a term that expresses only the number of data bits per second Very often the parity bit is included as an information or data bit The PCL601MOD accepts a baud rate of 38400 only RS232 Protocol SW1 in RS232 position The PCL601 is a DCE device therefore it will transmit on pin 2 and receive on pin3 of the DB9 RS 232 connector The RS232 serial communication mode is single ended This means that for each signal there is one wire and a common ground reference used by all the signals The PCL601 does not use handshaking thus the CTS and RTS lines are internally connected and the CD DTR and DSR lines are internally connected inside the PCL601 The signal line maintains levels of 5VDC to 15VDC and 5VDC to 15VDC For a valid logic level in the controller the voltage must be at least 3 volts RS232 works at distances of up to 50 feet maximum RS232 is susceptible to electrical noise and should not be used in noisy areas Always use the shor
50. ither the maximum speed or goto an absolute position based between the upper and lower programmable limits A seven decade thumbwheel switch can be read for relative indexing The PCL601 also has a high level programming command set that includes branching looping conditional statements time delays text strings and I O which the user can use in the programming mode to fully control all machine functionality Ahome input a set of bidirectional hard and soft limit switch inputs and bidirectional jog inputs are provided for each axis These features are generally required in most machine control designs 6 testable TTL CMOS and 24V compatible inputs and 8 programmable open collector outputs are provided per axis The I O may be used for monitoring and controlling machine operation and or interaxis coordination The I O are accessible independent of the busy state of the axis controls The PCL601 has a built in programmable reset circuit Reset is automatic on power up or by pressing the external reset button A free software download can be obtained at anaheimautomation com and it contains this user s manual along with the SMC60WIN software and PCL601 program examples The software allows you to write and change programs that are to be stored in the PCL601 for autostart use and also upload the program that is stored in the PCL601 itself for editing and viewing The software also allows you to save the programs onto your computer hard drive and eas
51. lowing a G command The analog position must be enabled for this command to work Motion is not activated by this com mand it only sets the register N P Z This command is used in conjunction with the analog position the analog position lower limit and the analog position lower limit commands S Go slew Format S Description This command will send clocks out to the PCL601 The only commands that can stop the clocks are stop motion or soft limit Motion can also be stopped by using the limit switch inputs The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands T Motor current enabled Format T O or 1 Description This command will control the On Off output which is designed to connect to the on off input of Anaheim Automation s step motor drivers To energize and allow current to flow through the coil of the motor set the value to 1 To de energize and turn the current off to the motor set the value to 0 This is a dedicated output and not controlled with the output register L011268 37 April 2015 V Verify Format Description Command Z Position Format Description Range SCH ME SS EC cP veryencosersoston ena positon enano SC SSC SSES EC Se V command This command can be used with most commands to verify the register contents This is a read only command Valid Commands are shown belo
52. lse is available PLC Control e 2 23 PLC Control Executing HMI Hwg HM HMI PLE No 0 Fart COMO Change Station Num Add Type TX Address can ean BIN _ Formathangel DODOD 1 65535 Word Length 1 Use Address Tag Control Type Execute Macro Program Marco Macro ID go_to_stagez c Execute Method OFF gt ON 52 April 2015 Finally we will include two added features to the interface two Multiple State Display objects to show the direction in which the system is moving one for right and another for left as well as a number display object to display the exact position of the system at any given time We start by adding the Multiple State Display objects Note that the PCL601 has a direction register as opposed to a direction bit This is the reason we use a Multiple State Display instead of a Bit State Lamp Graph elernent window Connector HMI PLC PLC Farts Setting Lamp E Bit State Direct Switch Window eil Multiple State Setting Dau A Multiple Scroll Bar State Switch Moving Animation Function Parts Project Database Mm Multi State Display Component Attribute E State Num Multi State Display Component Attribute ES EN Basic Attributes Multi State Display Tag Graphics Display Setting Priority Normal Read Address u PLC HMI HO a0 Port COMO Change Station Num Addr Type 4X Address 3 Syst
53. me Address PLC HMI HOI vw 9 H HMIO Port COMO Port COMO Change 1 E Change 1 Station Num Station Num Addr Type 1X Addr Type LB Address 1 System Register Address IT System Register Multiple Multiple Code BIN Word F Code BIN Wod y State Setting State Display Type Length Type Length Format Range DDDDD 1 65535 F wisi H F r Use Address T Use Address T Multiple Scroll Bar ES es Tag State Switch Ser Use the index register Use the index register Function Parts Project Database Description In addition to being able to helping us visualize the completion of each stage we want this input pulse signal to trigger the motion of the system In order to do this we will create three separate macros and each of these will be triggered by a PLC Control event which will be the detection of the respective pulse include macrotypedef h include math h int MacroEntry if system_enable 1 absposition 4000 send absolute position command 1 move to stage 2 ka Fa Fa NF OWON DU P YN return 0 Parameters go_to_stage2 c DataType Param name PLC No PLC Addres Address Word OptMode Arra unsigned sh command 0 AN 1 1 Read Write No signed int absposition 0 4X 15 2 Read Write No bit system_enable 0 Ox 1 1 Read Write No Macro triggered by input 1 at stage 1 91 L011268 April 2015 1 include macrotypedef h 2 include mach bh 3 2 int MacroEntry
54. mes to TOP End of program 58 EE Wait 10m3 for encoder ringing 1000 Lines 400 step rev Allow three retries Allow 1 motor step error Home to a physical switch Reset position register to U Reset the encoder count Move to 1st Position Move to 2nd Position Move to 3rd Position April 2015 Sample Program 3 Sample Program 3 illustrates the setup and operation of the output on the fly function and the use of the if then statement The system is first homed using home type 0 waits for input 1 to be a value of 0 grounded and then is indexed 10 000 steps During this index output 1 needs to be turned on every 1000 steps 5 times starting at position 2000 At the end of the index output 1 is then turned on again for 1 mS and the unit is then sent back the 10 000 steps to position O but the output should not be turned on The unit then repeats waiting for input 1 to be and indexes again Line 01 01 Un ee oo Bo ech h ki bi bi PRI ch MN A Oi Bi O LU OI el DI Un E DO kl Ss El LU L011268 Command Acceleration 1000 steps sec sec Base speed 500 stepsfsec Max speed 5000 steps sec Direction CCVM Home type U soft and home switch Finish move Position register U Output on at position 2000 steps between outputs 1000 steps of output counts 5 Label TOF lfinput 1 1 then execute the next line Goto TOP Enable output on the fly Direction CAN Go relative
55. meters button located in the Motion Tab To read and clear the error while in Direct Mode use the error code command Once the error has been read and cleared the LED will return to green and the error code register will be cleared to 0 Refer to the table on page 43 for a complete list of the error codes Interfacing With A Driver The PCL601 controller was designed to control a step motor driver For drivers with Opto isolated in puts the PCL601 needs to sink current through the driver s input LED To do this connect the 5VDC to the positive terminals of the inputs and connect the clock direction and on off outputs of the PCL601 to the negative terminals of the corresponding inputs on the driver For a driver with TTL CMOS inputs the PCL601 has a negative going clock that will sink the current from the driver s inputs Wire the clock direction and on off outputs and OVDC reference of the PCL601 to the corresponding inputs of the driver respectively For a PCL601 controller purchased with an integrated driver and power supply Driver Pack these connections are already internally made Technical Support Everyone needs assistance on occasion If you have problems using any of the equipment covered by this manual please read the manual to see if it will answer your questions Be sure to look in the Troubleshoot ing Section located near the back of this manual If you need assistance beyond what this manual ca
56. n the latest releases Part Number Description PCL601MOD Featured step motor controller with encoder feedback DPD75601 Controller Drive Pack Features a 7 amp unipolar drive and power supply DPN10601 Controller Drive Pack Features a 10 amp bipolar drive and power supply 485SD9TB RS232 to RS485 converter TWS7 Seven position thumbwheel switch compatible with any SMC6O0 series controller AA9MFC 6 6 foot straight through serial cable with one DB9 male and one DB9 female connector PSAM24V1 2A 5V3 5A Power supply for PCL601 24V 1 2A 5V 3 5A L011268 6 April 2015 Dimensions Switch Locations 1 71 PCL601 RE 232 POWER GRN ERROR RED O D D m D 01000 ecpcelccccopbos TION RS 232 RS 485 3 28 Legend Wiring Diagrams mr UU Ea P1 PCL601 54 SW1 6 ef INDEXER ne S 2 SE RS 232 IN IN3 amp e ch IN4 Chr oO INS CO EE TB1 ING EJ 7 Do 1 Sc GND RS 485 IN 3 GJ AL TB5 SW7 14 53 IGND HOME a JOG amp oe WA JOG oi 719 5v FJOG Gre AO TO SH ENA HARD 12 oa ENCODER 4 Q ENB HARD Cor oi CJ GND SOFT Qa Ob SOFT E SSES aes enD HS 5 ES TO 319 CLock sae DRIVER Eee ouT2 G2 24VDC D ES GND 0UT3 Sj a EXTERNAL outs SE POWER TB7 ouTs HH SECH TO 719 8 24VDC IN OUT6 5 POWER SUPPLY 3 GND OUT YH OUT8 amp J1 TO THUMBWHEEL SWITCH L011268 April 2015 Terminal Descriptions Position Description Power Position Description
57. n Encoder Postion Set Jog Speed E 200 Error Code Get Position lo Yerily Parameters Direction OCA OC ctw Motor CON OFF Inputs Current Outputs 477704 10 56AM Send acceleration amp deceleration parameter to controller step sec Send base speed parameter to the controller step sec Send maximum speed parameter to the controller step sec Send fast jog speed parameter to the controller step sec Motor will seek the home position by moving towards home switch which will stop the motor reverse the motor direction and stop when the home limit switch is no longer trig gered One switch is required to stop anti backlash Home using Home Switch Motor will seek the home position by moving towards home switch but motor will slow Home using SE l down to base speed when the soft switch is triggered followed by triggering the home Soft and Home Switches i i switch to stop motion Two switches are required to stop View inputs checked On blank Off View and trigger outputs checked ON blank OFF L011268 18 April 2015 Tab Sheets Encoder Options and Registration Inputs 23 SMCE0WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help PY LU en lt 0 The Unit is NOT Connected ES a i GE H d E e E Y y Encoder Options and Analog Input and 1 Real Time Motion Registration Inputs urea
58. n provide you may call the factory direct for application assistance lf possible have this manual in hand It is often helpful to have the controller connected to a computer with the software installed L011268 9 April 2015 Electrical Specifications Power Requirements With No Connections 5VDC 100mA or 8VDC to 24VDC 90MA Operating Temperature O to 60 degrees C Pulse Output Range 1 to 50 000 Hz 10uS negative going pulse width Inputs TTL CMOS Logic 0 O to 0 8VDC Logic 1 3 5 to 24VDC Analog input 1 0 to 5VDC Outputs CLK DIR ON OFF Open Drain Type 40VDC 75mA 24VDC OUTPUTS EXTERNAL POWER SUPPLY OV Ordering Information Baud Rate 38400 Baud Fixed Data Format Modbus RTU Half Duplex no start bit 8 data bits even parity no stop bit AA ASCII Half Duplex 1 start bit 8 data bits no parity 1 stop bit Outputs 8 programmable Open Drain Type 40V 100mA Output1 active low time for output on the fly 50uS Encoder and Driver Output 5VDC Output 50mA Note For inductive loads customers must connect a clamping diode to protect from flyback voltage spikes The table below lists a variety of products available from Anaheim Automation Inc These products include those covered by this manual along with supporting cables and devices We are continually adding new products to our line so please consult Anaheim Automation Inc or its representatives for information o
59. nvert from revolution per second to pulses per second Enter the number of steps per revolution of the step motor The default is for a 200 step rev Steps Per Rev i SE motor in half step which is equal to 400 L011268 2 April 2015 Section 4 Communication Protocols Modbus RTU Modbus is a communication protocol commonly used in industrial applications This protocol can be imple mented in two different formats which are defined by the way transmissions are framed and the format in which the data is transmitted The two formats are ASCII and RTU Remote Terminal Unit In the former data is transmitted as a string of ASCII characters with two characters representing a single byte and the message is framed by a colon at the start and a carriage return line feed combination at the end The one implemented on this device however is the RTU format In this format messages are transmitted as a string of hexadecimal values and the message is framed on both ends by an idle time out equal to the time it takes to transmit 3 5 characters at the implemented baud rate This protocol allows the device to communicate with Human Machine Interfaces HMIs so that it can be polled and monitored while run ning In addition this allows for commands to be sent from the HMI itself giving the user full control over the functions of the controller Modbus RTU is the default communication protocol of the PCL601 and it can operate as a Modbus Slave only
60. oes all the parts of the request except for the byte count and the value being written Address Function Starting address No of registers Byte count EE Reg 6 new value Reg 7 new value Reg 8 new value CRC Address Function Starting address No of registers CRC ae 0x11 Report Slave ID This function reads the version number and the current status of the device This function is executable at all times Address Function CRC lic Address Function Byte Current Firmware version in ASCII CRC Response count address L011268 67 April 2015 Appendix 4 Switching to AA ASCII Protocol Although this device is intended to be used mainly in the Modbus RTU protocol the user can easily switch the device to AA ASCII mode in order to program it or simply use it in direct talk mode In order to do this the user can use an HMI to write the command code 11 to the command register or the MOD2ASCII application provided with the software download can be used to easily switch protocol from a computer MOD2ASCII First the user must install the application by running the setup file in the MOD2ASCII folder Once in stalled the application can be opened and it should automatically recognize the device assuming that the device is powered and its device address is 1 Connection Established PCL601MOD v1 00 Switch to ASCII Currently in Modbus RTU Mode If the address of the device is not 1 the user will be prompted
61. og Input Code Description 8 This command uses the voltage on input 1 to calculate and set the number of clocks for the PCL601 to send out following a Go command The analog position must be enabled for this command to work Motion is not activated by this command it only sets the number of steps required to go to the absolute position determined from the analog input The analog speed position enable register must be set to 1 and the analog speed upper and lower limit values must be written before the execution of this command 9 Set Number of Steps from Thumbwheel Code Description 10 Clear Errors Code Description 9 This command reads the thumbwheel switches to set the number of clocks for the PCL601 to send out following a Go command Motion is not activated by this command it only sets the index register The thumbwheel enable register must be set to 1 before the execution of this command 10 This command clears the contents of the error code register For a description of the error codes see page 43 11 Switch to AA ASCII protocol Code Description L011268 11 This command switches the device to the AAASCII protocol 30 April 2015 12 Run Program Code Description 13 Autorun Off Code Description 14 Autorun On Code Description 15 Encoder reset Code Description L011268 12 This command tells the PCL601 to execute the program stored in i
62. otion Commands EE SC Add Command Motion Commands IT hen and Output Commands Accel Decel o Y Move Steps C Base Speed Move to Position A Max Speed O00000 Set Position fr Jog Speed CO Finish Move Repeat Last Move Direction Cw Direction COW 7 Home to Soft Home Limits Home to Home Limit Slew move continuously f Stop Soft Stop Hard C wait __illsecond 8 Wal p HUSS C End of Program Motor Current On Motor Current Off Comment Please choose a command UE Cancel And 10 34AM Set program acceleration amp deceleration parameter step sec Set program base start speed rate step sec Command will allow any motion command to be completed before continuing to the next Finish Move l line of code This command should be used after every motion command Command will repeat the previous index move Do not use with encoder autocorrect Repeat Last Move enabled SOEN Command will begin motion in the direction last entered seeking the soft input first to Home to Soft Home Limits Geer slow the motor down to base speed then to stop when the home limit is triggered SE Command will begin motion seeking the home limit which will slow the motor down to Home to Home Limit St EEN i base speed reverse the direction and stop when the home limit is no longer triggered Slew move continuously Command will ramp motor up to max speed and keep mo
63. ration Save Screenshot to The Extended Memory ress ie a f h hz Clear Event Import Export Import Project To HMI z Ges Message Board Scale Tool Pen dd Wi 7 Pen Color P Pen Color GA C Ben Width 1 E Alarm Bar ca ear E et C Print eu Printer Color f Monochrome Color Reverse Color Print Bitmap Vector Graph l Magnification 1 0 D Network Printing i za Print page gt Pit Tee iy Ee f Current Page H Print eg Note Pad Fil T C a Change Paper To Print e Pa ile Change Paper To Print E Pat Tend Graph y f Horizontal Print T Print All Bitmap Project Database Vertical Print TC Print All The Vector Map Automatically Take The Paper T Print Background Colors L011268 48 April 2015 Now we add a Bar Picture which will represent the position of the system at any given time We configure the bar graph to use the position register as the reference value as shown below HMI PLC PLC Farts E Kai Display XY Plot Event Display Indirect Window Lem l a Function Farts Project Database L011268 EX Bar Graph Component Attribute Basic Attributes Bar Scale Graphics Display Setting Priority Normal Read Address HMI mmo PE y No Port COMO Change m Station Num Addr Type AN Address System Register Code Word BIN pat 2 Format Range DDDDD 1 65535 Use Address Tag Use the index register 49 Write Address H
64. ration 1000 steps sec sec Axis Accel 1000 2 send Text string 6141000 Axis Accel 1000 PS 2 send Text string 2041100 Axis Accel 100 E 4 Base speed 500 stepsfsec Axis Base 500 S send Text string 201 BS00 Axis Base 500 E bo Send Text string 26100 Axis Base 100 E Max speed SUU0 steps sec Axis Wax s5000 E D send Text string m1 MS000 Axis Max 5000 a 4 Send Text string OZ Axis Max 500 a 10 Enable thumbwheel Enable Axis Thumbwheel eal 11 Send Text String mei Enable Axis Thumbwheel 12 Label TOP C 13 Direction CW AxisO CW 14 Send Text String 1 Axis CW 15 Send Text String 1M set Distance with thumbwheel E ID Go relative thumbwheel index HEN ES I Send Text String ol Axis Go relative thumbwheel PS ID Finish move Walt for moves to end 19 Wait 500 msec A Send Text string Ciz Axis CW E 21 send Text string 202400 set axis2 index 22 send Text string mts Axis go relative Cl 23 Wait 5000 msec 24 Send Text String 2 Axis2 CW P 25 send Text string LZ AXISA go relative 26 Wait 1000 msec 2 send Text string 601 PU Axis set goto position U 24 Goto position U Axisll Go to position U ES A send Text string m1 Axis Go to position U SU Finish move Wait for moves to end 20 Wait 1000 msec ES a2 Goto TOP Return and repeat L 33 End of prograrn L011268 61 April 2015 Appendix 1 PCL601 s Memory Map Data Holding Registers The PCL601 s motion parame
65. rect of the motor The encoder value can still be read Command will enable the use of the encoder and autocorrect the motor if needed Encoder Auto Correct On based on the encoder registers When the autocorrect errors Output 8 will be triggered Dela Command sets a time delay used for settling time needed after an index is finished The y delay occurs before the encoder count is read L011268 25 April 2015 Add Tab Sheets Analog Registration and Text Commands FT CMCC WIN Proar imi KE Fi Goto For Loops Encoder and Analog Registration and IFT hen and Output Commands Thumbwheel Commands Text Commands Analog Speed Off 7 Analog Position Off y Set Analog Speed o Goto Analog Position Analog Speed On 7 Analog Position On C Analog Speed e Analog Position Lower Limit Lower Limit e Abalog Speed e Analog Position Upper Limit Upper Limit Indes on the Fly Off C Dutput On The Fly Off Index on the Fly On Output On The Fly On C Registration Index e Tat Output Position e SEN 7 Send Text utputa e of Output Counts Comment peee ooo O Please choose a command OF Cancel 4 7 04 10 36AM y L011268 26 April 2015 Calculator Calculator E Steps Per Rev 400 PPS gt RPS RPS gt PPS iets Ee a dana Elle le le BERE ete EEA Close PPS gt RPS Convert from pulses per second to revolution per second RPS gt PPS Co
66. rite the command code 11 to the command register of the device or a terminal program can be used to send the command below See Appendix 4 for more details Broadcast Write Command Register Command Code CRC Low CRC High Address Function Address Switch to AA ASCII Byte Byte Installation Software e The SMC6OWIN software can be downloaded at anaheimautomation com and it contains the setup program and the SMC60WIN software PCL601 manual and sample programs e SMC6OWIN is compatible with all versions of Windows including Windows XP Windows Vista and Windows 7 WindowsXP Vista 7 Installation 1 Download software from the Anaheim Automation website 2 Unzip the file 3 Double click on the setup application file Getting Started 1 Double click on the SMC60WIN icon to run the SMC60WIN software 2 Apply power to the PCL601 controller 3 Set the appropriate com port setting by selecting Setup Com Port Settings from the menu bar Ctrl M is a shortcut 4 Set the appropriate axis setting by selecting Setup Axis from the menu bar Ctril A is a shortcut 5 Establish communications with the PCL601 by clicking on the Connect Icon or select Setup Connect from the menu bar If the unit is connected properly the program will notify you when communications has been established Ctrl C is a shortcut L011268 13 April 2015 File Menu Hew Program Chrl h Open Program Lil Save Program As Lid The Unit 15 Connected
67. rror in encoder pulses either plus or minus from the desired position that is allowed before the motor autocorrects Range 0 to 255 Thumbwheel Index This special function allows a thumbwheel with up to 7 decades to be used with the PCL601 to set a relative index To use the thumbwheel SW2 must be in the TWS position or the thumbwheel will be disabled Acceleration Deceleration The acceleration and deceleration are the same value The acceleration is entered directly as steps sec and controls the time that the motor will take to move from base speed to max speed and from max speed to base speed The higher the value the faster the motor will acceler ate The same principal applies for the deceleration which is controlling the time it takes to go from the max speed to base speed 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 and jog speed Range 1 to 5000 Max Speed The max speed is the top speed the user wants the motor to run This speed must always be greater than the base speed It is entered directly as the number of steps per second Range 1 to 50000 Jog Speed The jog speed sets the fast jog rate Jog is used to run at base speed The FJOG pin when grounded will ramp the motor to the set jog speed This speed must always be greater than the base speed It is
68. s running a program Example The following shows the request and response for writing the 16 bit value Ox07DO deci mal 2000 to data register number seven address 0x0006 The response is simply the echo of the request this confirms that the request has been satisfied Address Function Register address Data to be written ee Address Function Register address Data written ee L011268 66 April 2015 OxOF Write Multiple Outputs This function forces each inidivdual output in a sequential group of outputs either ON or OFF This func tion is not executable when the device is running a program Example The following shows the request and response for writing to outputs 2 3 4 and 5 The value being written is 0x05 binary 0000_ 0101 this forces outputs 2 and 4 ON and output 3 and 5 OFF The response echoes all the parts of the request except for the byte count and the data this confirms that the request has been satisfied Address Function starting No of Byte Request address outputs count pale CnC Address Function Staring address No of outputs CRC dc 0x10 Write Multiple Registers This function writes a sequence of 16 bit values to a sequence of 16 bit data registers This function is not executable when the device is running a program Example The following shows the request and response for writing the value 0x01F4 OxOBB8 and 0x07DO to data registers six seven and eigth respectively The response ech
69. serial connection The command must not contain any spaces 1 Not all commands require parameters See Command Summary for details Start Unit Selection In order to select a unit the command followed by the address of the unit must be sent For example 13 Unit 13 is selected Command is used Address Field The device address of the PCL601 can range from 1 to 99 Direct Talk Direct mode is used to directly control motion for real time movements through serial communication The PCL601 controller has 40 commands which are easy to remember for direct movement of a step motor Command Summary A Acceleration Deceleration M Max speed Stop soft B Base speed N Number of steps Counterclockwise direction C Steps between outputs O Set outputs Stop hard D 1st output on the fly position P Absolute position Thumbwheel enabled EA Encoder autocorrect enabled S Go slew Analog position enabled ED Encoder delay T Motor current enabled Analog speed enabled EM Encoder motor ratio V Verify Analog speed lower limit ER Encoder retries Z Position Analog speed upper limit ET Encoder reset Error codes register A Number of outputs EW Encoder window Version number Analog position lower limit G Go number of steps Verify axis number Analog position upper limit H Home Index on the fly enabled Set address of PCL601 Read inputs Output on th
70. struction commands L011268 A f T T 4000 8000 Initilize Values Move 4000 Steps Repeat Last Move Move to Position O then wait 500mSec L rection Cy o relative 4000 steps Move to Ist position Finish move ee Repeat last index Hove to nd Position Finish move AS Go to position 0 Wait 500 msec Goto TOP End of program O 1 _ Line DW El 3 El 3 E Py 5 Py El ml SECH INE E 10 E 1 E 121 E 13 lp 14 57 April 2015 Sample Program 2 Sample Program 2 illustrates a typical application where a system is first sent home to a datum or 0 position This sample program shows how a motor will move to 3 different positions utilizing some of the motion commands loop routines and encoder routine 1st 2nd 3rd Position Position Position T T 0 Position 2 Home Position CD al Di mM P to Pl 11 12 La 14 15 16 17 18 18 20 21 ER 2 24 L011268 Acceleration 1000 steps sec sec Base speed 500 stepsfsec Max speed 5000 steps sec Encoder delay 10 msec Encoder motor ratio 110 counts step Encoder retries 3 Encoder window 10 counts Turn on encoder autocorrect Label TOPR Direction CEW Home type 1 home limit switch only Finish move Position register Reset the encoder position to U Direction LA 30 relative 4000 steps Finish move lo relate 4000 steps Finish move Wart 1000 msec Go relative 4000 steps Finish move Outer loop 3 ti
71. t program to the controller View Program in Controller View program in the controller memory Upload Program in Controller Upload the program in the controller for editing and saving Program will start when controller is powered up sid will start when controller is powered up A PCL601 Memory Available With the create and edit program tab sheet selected the user can obtain the amount of available memory located to the right of the Delete command button The PCL601 has a maximum available memory of 2046 bytes each instruction can use from 2 to 7 bytes Current Program Filename With the create and edit program tab sheet selected the user can obtain the current program filename located in the lower left corner of the SMC60WIN window All programs created by the SMC60WIN soft ware will have a mdb and a bak extension L011268 21 April 2015 Currently Selected Line The currently selected line is indicated in the program by the right pointing arrow triangle in the left column Clicking on any line will select a new currently selected line Beal Time Mati Encoder Options and Analog Input and Create and Edit E Registration Inputs Thumbhweel Options Program Send Program to Controller Base speed 500 steps sec S TART Max speed 5000 steps sec View Program in E Go relative 1600 steps E NM A4 of 2046 byt d Add Change Insert Delete Se ES CA5 ample1 mdb Add Change Insert Commands The Add Change Insert
72. ter Address 1 IT System Register Switch Window Code pn Wod 3 Word y i Type Len Len il Format Range DDDDD 1 65535 Format Range DDDDD 1 65535 Multiple Multiple State Setting State Display Use Address Tag J Use Address Tag am T Use the index register T Use the index register e H T k Multiple Scroll Bar State Switch Sep Function Parts Project Database L011268 46 April 2015 Additionally we want this button to initialize the values for acceleration base speed and max speed To accomplish this we create the following macro and name it initialize Note that the parameters must be of address type 4x which are data registers Refer to Appendix 1 for more details on the Memory Map include macrotypedef h include math h int MacroEntry 4 base speed 500 set base speed to 500 steps sec max_speed 5000 set max speed to 5000 steps sec 1 2 3 4 5 6 acceleration 1000 set acceleration to 1000 steps sec sec Z 8 9 return 0 o An Ti i ey a Mr BABA JN SS SSS EE sar unsigned int acceleration 0 Ax 4 2 Read Write No unsigned sh base_speed 0 ds 6 1 Read Write No unsigned sh max speed 0 ds T 1 Read Write No Now that the macro has been created we need to add a PLC Control event that will trigger it The macro has to be triggered when output 1 is active Graph element window Xx Connector HMI PLC Control e
73. ter does not match the given value the program will skip the next line and execute the following line An open input is read as a 1 and a grounded input is read as a 0 Branching or Goto Statements The goto instruction will have the program jump to the given label If no label is in the program it will error when trying to send Return from Subroutine This function can be placed anywhere in the program as long as a goto statement has been already executed The program will jump back to the last goto statement encoun tered and execute the next line in the program Inner and Outer Loop The loop instructions allow the user to loop a program a variable number of times The program will loop to the designated label location of the program However the label must always be at a lower line number than the loop instruction itself You can only nest inner loops inside an outer loop You may not nest an inner loop inside an inner loop or an outer loop inside an outer loop Multiple nested inner loops are allowed in one outer loop Finish Move When writing a program the finish move command is used directly after every motion command When using this command the PCL601 internally generates a busy signal and will wait until the move is complete before executing any further commands Unless the finish move command is used the PCL601 will continue to execute the program If it encounters a command that cannot be used when the motor is moving the PCL60
74. ters and data are mapped to 38 registers these are referenced to as 4x Address 4x Access Description Range Read Write Command Register 1 to 15 2 Read Write _ Number of Steps Low word 2 ead d umber of Steps oy word 0 to 8 388 607 Read Write Number of Steps High word Read Write Acceleration Low word 100 to 9 999 999 Read Write__ Acceleration High word omnes 6 Read Write BaseSpeed________ 1t05000 8 Read Write JogSpeed____ ttoso00mD 9 Read Write _ Direction CW 1 CCW 0 L011268 62 April 2015 Output Registers The PCL601 has a total of eight outputs and these are mapped to a single 16 bit register as shown here Ouput registers are referenced to as Ox Address 0x Access Description Range Read Write Outputs 1 8 1 255 The output register holds the status of the outputs in the following arrangement O output8 output 7 output 6 output 5 output 4 output 3 output 2 output 1_ Individual Inputs The PCL601 has a set of six user programmable inputs in addition to a set of limit switch inputs Indi vidual inputs are referenced to as 1x Address 1x Access Description 6 Read inputs C e Read Soft Limit 1 Note that input 1 can also be configured as an analog input in that case input one will read as active at all times Input Registers The PCL601 has a set of six user programmable inputs in addition to a set of limit switch inputs These ar
75. test cable connection possible NOTE Keep controller wiring separated from motor cable wiring RS485 Protocol SW1 in RS485 position The RS485 protocol mode is as follows On board receivers will remain in active mode indefinitely Transmitters must be turned off when the unit is not sending data to prevent the line from sending and receiving data at the same time Therefore when the PC is transmitting data its driver will be turned on and each of the units connected will have their drivers off If they are requested to send data back to the PC the selected unit will turn it s driver on to send the data and then turn it off after it has completed transmission Note The above protocol is done internally between the converter and the PCL601 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 PCL601 is designed for two wire configuration The 2 wire configuration 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 configuration note that an additional ground conductor must be used reduces cabling cost NOTE Keep control wiring separated from motor cable wiring L011268 4 April 2015 RS232 to RS485 for multiple units or cables longer than 50ft The PCL601 can be connected to your
76. the RS485 communication protocol Special functions of the PCL601 include 8 programmable open col lector outputs and 6 TTL CMOS and 24V compatible inputs a quadrature encoder input with the ability to autocorrect an analog input to control either maximum speed or absolute position registration mark indexing during a slew command an output that will trigger during an index command at an absolute position and a thumbwheel input for indexing a motor The PCL601 can be powered with a DC 5VDC or 8 24VDC voltage and uses only 2 watts at 24VDC and only a 1 2 watt at 5VDC with no connections to terminal blocks Description The PCL601 stepper motor controller provides independent programming of acceleration deceleration base speed start up speed max speed running speed jog speed and the number of steps to be taken in both relative and absolute positioning modes On absolute positioning moves the PCL601 automatically determines the proper direction to go and the number of steps to take The relative positioning will move a number of steps in the direction that the user defines The PCL601 also has specific functions such as index on the fly which during a slew move will move a predefined number of steps after an input has been triggered Output on the fly which will trigger an output on for 50uS during an indexing move at an absolute position and repeat triggering the output on after a given number of steps An analog input can be used to set e
77. ts internal memory The device can be programmed via the SMW6O0WIN software 13 This command disables the program autorun feature of the PCL601 This means the device will NOT automatically execute the program stored in its internal memory upon being powered 14 This command enables the program autorun feature of the PCL601 When given this command the device will automatically execute the program stored in its internal memory every time it is powered until it receives an Autorun Off command 15 This command will reset the internal encoder position register to 0 31 April 2015 Anaheim Automation ASCII The second protocol used by the device is a custom communication protocol used in Anaheim Automation Programmable Controllers In this protocol data is transmitted as strings of ASCII characters with alpha characters representing the function being requested and numerical characters representing the function parameters in decimal form This protocol also allows the device to communicate and be programmed via the SMC6OWIN software COM PORT Settings Baud Rate 38400 Start Bits None Data Bits 8 Parity None Stop Bits 1 Flow Control Xon Xoff Message Format Bol Address Instruction Parameters End 1 2 characters 1 2 characters O 8 characters Carriage Return The message does not have to be sent as a continuous string this allows user to use a simple terminal program to communicate and control the device via a
78. unction reads the status of the device s discrete outputs This function is executable at all times Example The following example shows the request and response for reading a sequence of five outputs starting with output one address 0x0000 from the device The response yields the status of the outputs to be 0x03 emaning outputs 1 and 2 are ON and outputs 3 4 and 5 are OFF Address Function Starting address No of outputs CRC R t Ga Address Function Byte count Output data CRC R EE 0x02 Read Inputs This function reads the status of the device s discrete inputs This function is executable at all times Example The following shows the request and response for reading a sequence of four inputs starting with input one adress 0x0000 from the device The response returns the value 0x04 meaning that inputs 1 2 and 4 are OFF and input 3 is ON Address Function Starting address No of inputs CRC Ga Address Function Byte count Input data CRC R SA 0x03 Read Data Registers This function reads the binary contents of the data registers in the device This function is executable at all times Example The following shows the request and response for reading three sequential data registers starting at register number three address 0x0002 The response returns the value of the three registers with the bytes in each 16 bit word being arranged from high to low as they are stored in the device Address
79. ving until triggered to stop Stop Soft Ramp motor down to base speed and stop Stop Hard Stop any motor motion immediately End of Program This command is required as the last command in the program code L011268 23 April 2015 Add Tab Sheets If Then and Output Commands SE Eat SIL DOE ZA e SIE i imi y Add Comman lffThen and Output Goto For Loops Encoder and Analog Registration and Text Commands Thumbrwheel Commands Commands IF inputs match below then execute the next line otherwise skip the next line SR Ir mput matches then execute the next line othermize skip the next line Input Value Set Outputs 1 2 3 4 5 B T H Comment Please choose a command OF Cancel 4 7 04 10 35 AHM g If inputs match below then execute the next line other wise skip the next line This conditional command allows the user to execute the next line of code if the inputs triggered match the given value If the inputs do not match the next line is skipped If input matches then ex This conditional command allows the user to execute the next line of code if the specific ecute the next line otherwise input triggered matches the given value If the input does not match the next line is skip the next line skipped The outputs can be turned on 1 or off 0 These outputs can be used to trigger PLC Set Outputs l operations relays solenoids etc L011268 24 April 2015 Goto For Loops
80. w Description Command Description Z value This command sets the current position as a reference This register can contain a positive or negative value but cannot be changed while motion is in progress 8 388 607 to 8 388 607 I Error codes register Format Description This command requests the PCL601 controller to get the current error code and print it to the screen For a description of the error codes see page 43 Version number register Format Description L011268 This command requests the PCL601 controller to return its internal firmware ver sion number 38 April 2015 Verify address register Format No address is needed before this function will return the address Description This command requests the PCL601 controller to return its internal address num ber to the PC or PLC Index on the fly enabled Format TO or 1 Description This command will either enable or disable the index on the fly function To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the number of steps N and go slew S commands Output on the fly enabled Format O or 1 Description This command will either enable or disable the output on the fly function To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the number of steps between outputs C 1st output position
81. your program for improper syntax that may cause an error code 2 Physically press the reset button on the PCL601 to clear an error 3 Another way to clear an error is by using either the SMC60WIN software or the direct mode command instructions set 4 The SMC6OWIN can clear an error in the real time motion tab section by clicking on the verify parameters button 5 The direct mode command can clear an error by simply prompting the error code register to return the value back to the PC or PLC j Note Read the Error returned to the screen to better understand what can be causing the fault condition The error is returned in binary coded decimal format If two errors were received their binary values would be added together Error Codes Error Code Type Description y Receive Over The serial communications had a receiving error This is an internal error caused by the flow Error computer Encoder Error 1 The encoder needed to correct the index Encoder Error 2 The encoder could not finish the index Output 8 is set with this error A bad command was sent to the controller Please check to see that the command be Command Error ing sent is valid 16 Motor Error Motor speed profiles 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 39 Range Overflow The go to position has an overflow error This is caused by the P command trying

PCL601MOD - Anaheim Automation

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