L010183 - PCL601USB User`s Guide.p65
Contents
1. Error codes register Format Description This command requests the PCL601USB controller to get the current error code and print it to the screen For a description of the error codes see page 39 Version number register Format Description This command requests the PCL601USB controller to return its internal firmware version number L010183 33 September 2005 Verify address register Format No address is needed before this function will return the address Description This command requests the PCL601 USB controller to return its internal address number to the PC or PLC Index on the fly enabled Format O 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 0 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 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 speed2. Set of Steps Between Dutputs Index on the Fly OON O OFF Set Registration Index o Encoder Delay Motor Ratio Encoder Retries Encoder Window Encoder Postion 1st Output Position Steps Between Outputs of Output Counts Registration Index Verify Parameters 4 7 04 10 32 AM Z 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 7 Send the number of encoder autocorrect retries to the controller When the autocorrect Set Encoder Retries A i errors Output 8 will be triggered Selg sis IE Send of steps to take between activated outputs to the controller SIEN 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 L010183 18 September 2005 Tab Sheets Analog Input and Thumbwheel Options E I SMHC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Real Time Motion Encoder Options and Registration Inputs Analog Input and The Unit is NOT Connected Thumbhweel Options Create and Edit Program Analog Max ON O OFF Speed Input Set Speed Lower Limit 500 15
3. There are two methods for sending commands to the PCL601USB One is to directly talk to the PCL601USB by using Direct Talk Mode This is usually used with a computer where the computer gives the PCL601USB serial commands to off load its processor A windows driver is provided to communicate with the PCL601USB through a virtual comport from the PC The driver can be found on the provided CD in the drivers folder The second way to give commands to the PCL601USB is to use the software program SMC60WIN to either manually control or to write and send programs This method is used when the PCL601USB is the main controller For example A PCL601 USB can replace simple motion control and replace I O functions when minimal quantities of I O are required to control specific machinery Simple motion profiles that can operate with 6 or less inputs and 8 or less outputs can utilize a PCL601USB controller Baud Rate A term used frequently in serial data communications a baud is defined as the reciprocal of the shortest pulse duration in a data word signal including start stop and parity bits This is often taken to mean the same as bits per second a term that expresses only the number of data bits per second Very often the parity bit is included as an information or data bit The Virtual comport that communitcates with the PCL601USB through the computers USB port accepts a baud rate of 38400 only Axis Selection Each PCL601USB is addr
4. outputs 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 trigger when the encoder retries function fails L010183 9 September 2005 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 1st 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 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 outp
5. A seven decade thumbwheel switch can be read for relative indexing The PCL601USB 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 A home 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 PCL601USB has a built in programmable reset circuit Reset is automatic on power up or by pressing the external reset button A CD provided when you purchase the unit contains this user s manual along with the SMC60WIN software windows virtual comport driver and PCL601USB program examples The software allows you to write and change programs that are to be stored in the PCL601USB for autostart use and also upload the program that is stored in the PCL601USB itself for editing and viewing The software also allows you to save the programs onto your computer hard drive and easily retrieve them when needed L010183 3 September 2005 Methods of Communication
6. Command will begin motion in the direction last entered seeking the soft input first to Home to Soft Home Limits F Cach slow the motor down to base speed then to stop when the home limit is triggered Homelto Home limit Command will begin motion seeking the home limit which will slow the motor down to 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 moving 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 L010183 22 September 2005 Add Tab Sheets If Then and Output Commands Add Command 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 This conditional command allows the user to execute the next line of code if the specific input triggered matches the given value If the input does not match the next line is skipped The outputs can be turned on 1 or off 0 These outputs can be used to trigger PLC operations relays solenoids etc L010183 23 September 2005 Add Tab Sheets Goto For Loops Encoder and Thumbwheel Commands COLA Add Command Goto For Loops Encoder bra Motion Commands If Then and Output Commands and Thumbwhe
7. EW commands L010183 28 September 2005 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 0 65535 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 PCL601USB controller will try to autocorrect the motor before erroring This command is used in conjunction with the encoder autocorrectEA command When the autocorrect errors Output 8 will be triggered 0 255 ET This command will reset the internal encoder count register to 0 EW Encoder window Format Description Range L010183 EW value This is the allowable error in encoder pulses either plus or minus from the desired position that is allowed before the motor autocorrec
8. L010183 16 September 2005 File Setup Program Edit Help Real Time Motion Encoder Options and Registration Inputs Tab Sheets Real Time Motion E i SMC6OW IN Programmable Indexer Software Version 1 0 0 The Unit is NOT Connected Analog Input and n Thumbhweel Options Create and Edit Program gt 10000 50 VET fisoo fisoo O Cw O CCW Set Max Speed Set Jog Speed Set Position Direction Motor Current ON O OFF Home using Home switch Home using Soft Home Move of Steps Move to Position Stop Stop Soft Hard Accelertion Base Speed Max Speed Jog Speed Direction Motor Current Step Position Encoder Postion Error Code Verify Parameters Inputs Dutputs Set Accel Decel Set Base Speed Set Max Speed Set Position Set Direction Set Motor Current Home using Home Switch Home using Soft and Home Switches Move number of steps Move to Position Slew Stop Hard Inputs Outputs Verify Parameters L010183 17 4 7 04 10 56 AM 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 Set Jog Speed Send fast jog speed parameter to the controller step sec View and trigger outputs checked ON blank OFF Updates and displays controllers parameters sheet and resets
9. 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 Example1 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 and 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
10. 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 5000 C Number of steps between outputs during output on the fly Format C value Description This command sets the number of steps between when output 1 turns on during an output on the 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 0 65535 D 1st Output on the fly position Format D value Description This command sets the position at which output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly enabled command Range 0 65535 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 O When this function is enabled the relative register is used to calculate the encoder position therefore before the next move is made the relative register needs to be set This command is used in conjunction with the encoder delay ED encoder ratio EM encoder retries ER and encoder window
11. backlash in a sys tem 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 L010183 8 September 2005 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 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 intern
12. encoder autocorrect function is enabled L010183 10 September 2005 Encoder Commands The PCL601USB controller is capable of using a quadrature incremental en coder with A and B channels Encoder Auto Correct This command will enable or disable the encoder feature of the PCL601USB 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 num ber Encoder Retries This is the number of times the PCL601USB will try to autocorrect the motor shaft position before producing an error When the error is produced Output 8 is triggered Range 0 to 255 Encoder Window This is the allowable error 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 a
13. of the corresponding inputs on the driver For a driver with TTL CMOS inputs the PCL601USB 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 PCL601USB to the corre sponding inputs of the driver respectively For a PCL601USB controller purchased with an integrated driver and power supply Driver Pack these connections are already internally made L010183 4 September 2005 Electrical Specifications Power Reguirements With No Connections 5VDC O 100mA or 8VDC to 24VDC O 90mA Operating Temperature 0 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 COIL 24VDC EXTERNAL POWER SUPPLY Ordering Information Outputs CLK DIR ON OFF Open Drain Type 40VDC 75mA Baud Rate 38400 Baud Fixed Data Format Half Duplex 1 start bit 8 data bits no parity 1 stop bit Outputs 8 programmable Open Drain Type 40V 100mA Output active low time for output on the fly 50uS Note For inductive loads customers must connect a clamping diode to protect from flyback voltage spikes Encoder and Driver Output 5VDC Output 50mA The table below lists a variety of products available from Anaheim Automation Inc These products include those covered by this manual along with
14. return a 0 If all inputs are inactive open the command will return a 63 Input 1 is the LSB and input 6 is the MSB I input This command returns the value of the selected input to the PC lf the input is open or high it will return a 1 If the input is grounded or low it will return a 0 0 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 50000 30 September 2005 M Max speed and analog speed Format 1 M value Description This command sets the maximum running speed for motion This value must be set before motion begins and be greater than the base speed Range 1 50000 Format 2 M Description This command uses the voltage on input 1 to calculate and set the max speed The analog speed must be enabled for this command to work This command is used in conjunction with the analog speed the analog speed lower limit and the analog speed lower limit commands This value must be set before motion begins N Number of steps Format 1 N value Description This command sets the number of clocks for the PCL601 USB 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 Range 0 8388607 Format 2 N Description This command reads the thumbwheel switches to set the number of clock
15. supporting cables and devices We are continually adding new products to our line so please consult Anaheim Automation Inc or its representatives for information on the latest releases Part Number Description PCL601USB Featured step motor controller with encoder feedback Controller Drive Pack Features a 5 amp bipoar drive PCL601USB and power supply DPY50611 with 48VDC motor bus voltage PCL601 Step motor controller with RS232 RS485 communications Controller Drive Pack Features a 7 amp unipolar drive PCL601 and power supply with DPD75601 60VDC motor bus voltage Controller Drive Pack Features a 10 amp bipolar drive PCL601 and power supply with DPN10601 80VDC motor bus voltage DPMLP601 Controller Drive Pack Features a 8 amp bipoar drive and PCL601 with 160VDC motor bus voltage TWS7 Seven position thumbwheel switch compatible with any SMC60 series controller 485SD9TB RS232 to RS485 converter AAUSB AB 6 6 foot USBcable with one USB A male connector and one USB B male connector AA9MFC 6 6 foot RS232 serial communication cable with one male DB9 connector and one female DB9 connector PSAM24V2 7A Power supply for PCL601USB 24V 2 7A L010183 September 2005 Dimensions Switch Locations 1 71 PCL601USB 3 035 L Wiring Diagrams sozee 2248922 ESSSSESS i ed iii A AA PCL601USB TB4 INDEXER N2 SMC60 IN3 O P4 USB IN 1 TO 5 ENC
16. that speed until reaching a registration mark hard limit switch soft limit switch receiving a stop hard or oy 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 position 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 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 a
17. the error codes Z Set motor position Set direction to clockwise or counter clockwise Set the current in the motor on or off 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 triggered One switch is required to stop anti backlash Motor will seek the home position by moving towards home switch but motor will slow down to base speed when the soft switch is triggered followed by triggering the home switch to stop motion Two switches are required to stop ore rimberafses moor wi move nimberofsepsenes wove Peston voori move to species poston e oct 1 mam speed ara keap moving O moron ES _ nap ay moor roton meae pa os very ramas View inputs checked On blank Off September 2005 Tab Sheets Encoder Options and Registration Inputs E I SMHC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Real Time Motion Encoder Options and Registration Inputs The Unit is NOT Connected Analog Input and e Thumbhweel Options Create and Edit Program Encoder Auto Correct Set Encoder Delay mS Set Motor Ratio Set Encoder Retries Set Encoder Window Encoder Reset CON O OFF fo mo C o Output on the Fly CON O OFF Set 1st Output Position us oo mm Move of Steps 0 Position to 0 Stop Hard
18. 00 Set Speed Upper Limit Set Analog Speed Analog CON O OFF Position Input Set Position oo Lower Limit 10 Set Position fo Upper Limit 0 Goto Analog Position Stop Hard Thumbwheel ON O OFF Index Move Thumbwheel Stop Index Hard Analog Speed Lower Analog Speed Analog Speed Upper Analog Position Lower Analog Position Analog Position Upper Thumbwheel Index Not Enabled Verify Parameters Analog Max Speed Input Set Speed Lower Limit Set Speed Upper Limit Set Analog Speed 4 7 04 10 32AM Analog Position Speed Input Sets the analog position input feature on or off Set Position Lower Limit Set Position Upper Limit Set Analog Position Stop Hard Thumbwheel Index Move Thumbwheel index Stop Hard Verify Parameters L010183 19 September 2005 Tab Sheets Create and Edit Program E i SMHC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help gt The Unit is NOT Connected m l 5 A Encoder Options and Analog Input and Create and Edit Real Time Motion Registration Inputs Thumbhweel Options Program Send Program to End of program Controller View Program in Controller Upload Program from Controller Enable Autostart Disable Autostart Add Change SS ugg Memory 2 of 2046 bytes used C Program Files SMC60WIN temp mdb 4 7 04 3 44PM PCL601USB Memory Available With the
19. B 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 Go to Setup Autostart Program and Click on Enable 3 If problems still exist contact Anaheim Automation Tech Support L010183 37 September 2005 Problem The PCL601USB controller has a fault condition Possible Solutions 1 Verify your program for improper syntax that may cause an error code 2 Physically press the reset button on the PCL601USB 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 SMC60WIN 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 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 lf two errors were received their binary values would be added together Error Codes Error Code Type Description Receive The serial communications had a receiving error This is an internal error caused by the Overflow Error computer Encoder Error 1 The encoder needed to correct the index Encoder Error 2 The encoder c
20. MOS and 24V compatible inputs a quadra ture encoder input with the ability to autocorrect an analog input to control either maximum speed or absolute position registration mark indexing during a slew commana an output that will trigger during an index command at an absolute position and a thumbwheel input for indexing a motor The PCL601USB can be powered with a DC voltage of either 5VDC or 8 24VDC and uses only 2 watts at 24VDC and only a 1 2 watt at 5VDC with no connections to terminal blocks Description The PCL601USB step 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 PCL601USB 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 PCL601USB 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 either the maximum speed or goto an absolute position based between the upper and lower programmable limits
21. ODER 3 4 2 TO 3 DRIVER 4 amp 24VDC 5 gt EXTERNAL POWER SUPPLY TO 3 HC POWER SUPPLY TO THUMBWHEEL SWITCH L010183 6 September 2005 Terminal Descriptions Position Description Power Position Description Inputs Position Description Encoder Fa 0 16 SW2 in position NG Position Description Outputs Position Description Limit Switch Inputs Output 1 Output on the fly output ps og O o Te L e Jose Ereoder rarios eror oupur tam Pa Ground Position Description Driver Outputs inputs 5 Ground reference for non opto isolated driver inputs Connector Descriptions Switch Number Description This connector is for the USB communication and is labeled USB This connector is for the thumbwheel module and is labeled TWS Slide Switch Descriptions Switch Number Description sw2 This switch is used to select either the thumbwheel or inputs 5 and 6 L010183 7 September 2005 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 PCL601USB controller automatically sets 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
22. Output Counts Comment Please choose a command jiI OK Cancel 477704 10 36AM Sets the maximum running speed based on the analog input Will send the entered text string back to the user 20 characters maximum L010183 25 September 2005 Calculator Calculator PPS gt RPS Convert from pulses per second to revolution per second RPS gt PPS Convert 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 motor in half step which is equal to 400 I Exit the Calculator L010183 26 September 2005 Section 4 Direct Talk Mode Direct mode is used to directly control motion for real time movements through serial communication The PCL601USB controller has 40 commands which are easy to remember COM Port Settings Baud Rate 38400 Data Bits 8 Parity None Stop Bits 1 Flow Control Xon Xoff Unit Selection In order to select a unit the command followed by the address of the unit must be sent NOTE There should be no spaces between the and address select How to select a unit 0 Unit 0 is selected 1 Unit 1 is selected 29 Unit 29 is selected How to get a response from a unit o Carriage Return After the command the PCL601USB will return a SMC60 the current revision number Note In direct talk mode each command is followed by a carriage return
23. PCL601USB Programmable Step Motor Controller User s Guide Aware ANAHEIM AUTOMATION INC UTOMATION 910 East Orangefair Lane Anaheim CA 92801 714 992 6990 fax 714 992 0471 e mail info anaheimautomation com website www anaheimautomation com L010183 September 2005 Table of Contents Section TEMATICA ie a Aa E NER e CC GH AR EE AE 3 DESCript NN at E a Ser Sag EA E ag Seance ea Be g EA EAT A E NA ETSA 3 Methods of communication ausrrtetsnd diri 4 relele M miee NAO O 4 AXIS DOC ainra ata 4 AA AP el teen a e a a a a RN eas OB Acad Elana be Meg 4 Interfacing With a Step Motor Driver esco its 4 Electrical Specifications a aa 5 Ordering Information iii 5 Dime nsi ns Switch LOCOS dener a a delved sii is E aT A ar iene 6 Wiring Diag ANTS earr aiana aneneen aaant uted A AB Ea Aaa ENI AEA KE Sara ST Aba KA AER begizoueny tes AENEA iai EN aaa 6 TSiMinal DESCAPIOAS e e doce ddr co a de eae ok 7 Connector Descriptions seic aae ae o ia 7 SIGE SWIC Descriptions ina dd ise 7 o A a O O ates tells cesta Eai 8 Section 3 SMC60WIN SO MWares ata dewenaechnpeaaccsinnstined dapeaes lbednsduedextn cen ceeacedidegnacded buadachaneavees 12 FileMen O ON 13 Setup Mentira ld 13 Setup Axis Men pss iia pica 13 A A Sela GAA aga cr ata ae 14 Program Autostart Program Menciona ida toas 14 Edit Men Ss ii A iia 14 A atin sce NS Lee CAS creas INEC CGT COS RSS EE ant oath arsed ante tes HR as tilt ca tes ade ie ener cos Side 15 The
24. The move type then determines what will happen In a relative or absolute type motion the PCL601USB controller will continue to the set position and stop In a slew type motion the PCL601USB controller will ramp down and stop In a home type motion the PCL601USB 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 L010183 34 September 2005 Stop Motion Format Description This command will stop all motion It can also be used to stop the current program that is running Thumbwheel index enabled Format 0 or 1 Description This command will either enable or disable the ability to use the thumbwheel switches for indexing If enable SW2 must be in the TWS position for the thumbwheel to be connected to the processor Analog position enabled Format 0 or 1 Description This command will either enable or disable input 1 to be used to set the analog position To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the analog position lower limit and analog position upper limit commands Analog speed enabled Format O or 1 Description 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 con
25. The unit communicates in half duplex mode therefore proper setup of hyper terminal is necessary to view characters if characters are to be echoed back to the screen Instructions All instructions require that no spaces be sent between the command and the parameter followed by a carriage return 0 not 0_ correct O carriage return incorrect 0 carriage return Command Summary A Acceleration Deceleration M Max speed Clockwise direction B Base speed N Number of steps Stop soft C Steps between outputs O Set outputs Counterclockwise direction D 1st output on the fly position P Absolute position Stop hard EA Encoder autocorrect enabled S Go slew Thumbwheel enabled ED Encoder delay T Motor current enabled Analog position enabled EM Encoder motor ratio V Verify Analog speed enabled ER Encoder retries Z Position Analog speed lower limit ET Encoder reset Error codes register Analog speed upper limit EW Encoder window Version number Number of outputs G Go number of steps Verify axis number Analog position lower limit H Home Index on the fly enabled Analog position upper limit Read inputs Output on the fly enabled Set address of PCL601USB J Fast jog speed L010183 27 September 2005 A Acceleration Deceleration Format A value Description This command sets the acceleration profile which is an integer value between 100
26. Unit is Connected The Unit is NOT Connected c ooocccconocccccccocccccnononccononancnnncnannnnnnnannccnrnnnnncnnnnns 15 A eect LH SEAN EER eee add lai ae a eG ether ah tll EAE TKS 16 TaD Sheets cries ha SAN caidas O si a rite Rona ed 16 Tab Sheets Real Time Motion escocia tareas 17 Tab Sheets Encoder Options and Registration IMputS oooooccnnccccnnncccccncnonccnnnanancnonanancnnnnnnnncnnnnnccnnnns 18 Tab Sheets Analog Input and Thumbwheel Options coccoooocccnccoccccnonoccccnonannnononnnccnnnanon cnc nnnnnncnnnnnnccnnnns 19 Tab Sheets Create and Edit Pro Mesta a a 20 Add Ghange Insert COMMON e eats 21 Add Tab Sheets Motion Command sre dete cseetartaccaigeeeuiaesveeccudenduadasegeee 22 Add Tab Sheets If Then and Output Commands cooooccccccnoccccnononcnononnnncnnnnnnnnnnnnnnncnn nana conan nnnnnnnnnanacnnnnns 23 Add Tab Sheets Goto For Loops Encoder and Thumbwheel Commands cccceecsseeeeeeeeeeeeees 24 Add Tab Sheets Analog Registration and Text COMMANAS occcccccnnonoconcnnnccnnnnanonnnnnnonnnnnnnnnnnnnnncnnnnnns 25 MAM ALOR ciate eh Nar cae sate sate recente ase oat tate RAE CCT A ME a oe AO adhe T 26 Section 4 Direct Talk Mode veicas sscesaccacacedateteaneesadeladacta ias 27 Section 5 Troubles MO OUI taste 37 Error COGSS dnde ts o is iS ato ceeatetel enc aie rets eeiecenees 38 OCHO Gs UN e a tdt Sa 39 Sample Program iii tas 39 Sample ag 661 1 2 Lad on a oa 40 Sample Program ostra iia 41 A O O 42 Samp
27. ally 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 coordination 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 0 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 the 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 0 and the upper limit is set to 5000 and the
28. bwheel Wait for moves to end Axis2 CCW Set axis2 index Axis2 go relative Axis2 CVV Axis2 go relative Axis set goto position O AxisD Go to position 0 Axis1 Go to position O Wait for moves to end Return and repeat September 2005 Appendix 1 ASCII Table for Direct Mode ASCII Symbol Hex Value ASCII Symbol Hex Value ASCII Symbol Hex Value Appendix 2 Firmware Revisions Version 1 00 Initial Release Version 1 10 Fixes Lockup on R8485 Communication Added capability to stop the motor on an Encoder Error after the Encoder Retries number has been reached Version 2 00 Added capability for the Encoder Ration to have 2 decimal points Also when the encoder retries fails Output 8 is set This verison of firmware also requires an upgrade to the SMC60WIN version 2 00 Version 2 10 Fixes the update of the Analog Input when the pot was not changed after a manual update of the Max Speed or Goto Position registers Added the capability to verify the Hard and Soft Limit inputs L010183 44 September 2005 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 o
29. 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 PCL601USB 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 L010183 20 September 2005 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 Real Time Moti Encoder Options and Analog Input and Create and Edit oa Ume Toon Registration Inputs Thumbhweel Options Program Linel Command Ml Acceleration 10000 steps sec sec il iu Base speed 500 steps sec Label START Max speed 5000 steps sec Direction CW Go relative 1600 steps Finish move Upload Program Inner loop 4 times to START from Controller Direction CCW Home type 1 home limit switch only Finish move Goto START End of program View Program in Controller o ALEJE ASES Enable Autostart Disable Autostart Add Change SS Delete Memory 42 of 2046 bytes used C Sample1_mdb Add Change Insert Commands The Add C
30. d 3rd Position Position Position T T i T 0 Position 2 4 6 Home Position Line Command Comments Acceleration 1000 steps sec sec Base speed 500 steps sec Max speed 5000 steps sec Encoder delay 10 msec Wait 10mS for encoder ringing Encoder motor ratio 110 counts step 1000 Lines 400 step rev Encoder retries 3 Allow three retries Encoder window 10 counts Allow 1 motor step error Turn on encoder autocorrect 9 Label TOP 10 Direction CCW 11 Home type 1 home limit switch only Home to a physical switch 12 Finish move oOo wN Om amp 00 hi 13 Position register O0 Reset position register to 0 14 Reset the encoder position to O Reset the encoder count 15 Direction CV 16 Go relative 4000 steps Move to 1st Position 17 Finish move 16 Go relative 4000 steps Move to 2nd Position 19 Finish move 20 Wait 1000 msec 21 Go relative 4000 steps Move to Srd Position 22 Finish move 23 Outer loop 3 times ta TOP 24 End of program 40 September 2005 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 th
31. e 10 000 steps to position 0 but the output should not be turned on The unit then repeats waiting for input 1 to be O and indexes again L010183 0 M2 whe Command Acceleration 1000 steps sec sec Base speed 500 steps sec Max speed 5000 steps sec Direction CCW Home type O soft and home switch Finish move Position register 0 Output on at position 2000 Steps between outputs 1000 steps of output counts 5 Label TOP lf input 1 1 then execute the next line Goto TOP Enable output on the fly Direction CW Go relative 10000 steps Finish move Output register 1 Wait 1 msec Output register 0 Disable output on the fly Go to position O Finish move Goto TOP End of program 41 Loop to TOP until input 1 is O Turn on Output 1 Turn off Output 1 Comments September 2005 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 outpu
32. el Analog crac fe Commands C Goto a Encoder Auto Correct Off Encoder Auto Correct On C Label C Delay ft Return from Subrouti eturn from Subroutine fas MST Retries Window Reset Encoder Count Fi Times to Loop Outer Loop Inner Loop J Thumbwheel Index Off Move Thumbwheel Index Thumbwheel Index On Comment amp amp amp amp Please choose a command i i OK Cancel 477704 10 35AM 7 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 a Outer Loop 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 a Inner Loop 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 Thumbwheellinde On Command allows the user to use the thumbwheel index Switch 2 must be in the thumbwheel position for the thumbwheel to be enabled Move Thumbwheel index Relative move command will allow motor to move the defined number of steps set by the thumbw
33. essed using a programmable register allowing the PC to address up to 99 PCL601USB s The Default axis is 0 To change the axis use the SMC60WIN software or the com mand To verify or check the axis use the SMC60WIN software or the command The axis designa tion is nonvolatile and will remain the same until changed by the user Status LEDs When powered and operated properly the status LED will be green When an error occurs the LED will change to RED and an error code will be generated in the error code register To read and clear the error with the software click on the Verify Parameters button 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 39 for a complete list of the error codes The RX LED will blink when data is being recieved from the PC The TX LED will blink when data is being transmitted back to the PC Interfacing With a Step Motor Driver The PCL601USB controller was designed to control a step motor driver For drivers with Opto isolated inputs the PCL601USB needs to sink current through the driver s input LEDs To do this connect the 5VDC to the positive terminals of the inputs and connect the clock direction and on off outputs of the PCL601USB to the negative terminals
34. hange Insert 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 IN NIL Pragrammab a Indoys ALE fercion 1 Ini x Add Command n Goto For Loops Encoder and Analog Registration and Text Motion Commands If Then and Output Commands Thumbuwhee Commande Motion Commands Software section that allows user to enter speeds positions direction etc lf Then and Output Commands Fi Software section that allows user to manipulate conditional statements and 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 limits Commands 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 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 disp
35. he 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 PCL601USB 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 PCL601USB will continue to execute the program If it encounters a command that cannot be used when the motor is moving the PCL601USB 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
36. heel switches Encoder Auto Correct Off Command will disable the autocorrect of the motor The encoder value can still be read Command will enable the use of the encoder and autocorrect the motor if needed based Encoder Auto Correct On on the encoder registers Command sets a time delay used for settling time needed after an index is finished The Delay I delay occurs before the encoder count is read Motor Ratio Command sets the number of encoder counts to one motor step Bence Command sets the number of times the motor can autocorrect itself before erroring When the autocorrect errors Output 8 will be triggered Command sets the number of encoder counts the motor is allowed to be off Reset Encoder Count Command will reset the encoder count to 0 zero L010183 24 September 2005 Add Tab Sheets Analog Registration and Text Commands COLE Progra ble dades nar imix Add Command Motion Commands IfThen and Output Commands Soto Por boops Eneoder a ya Analog R om o Analog Speed Off Analog Position Off E C Set Analog Speed Goto Analog Position Analog Speed On Analog Position On C Analog Speed C Analog Position Lower Limit Lower Limit c Abalog Speed BE gt Analog Position Upper Limit Upper Limit Index on the Fly Off C Output On The Fly Off Index on the Fly On C Output On The Fly On Registration Index c 1st Output Position c Steps Between C Send Text Dutputs C of
37. i e D or E Option 2 1 Open Windows Explorer 2 Open CD Drive Folder D or E 3 Double click the Setup Icon Getting Started 1 Apply power to the PCL601USB controller Follow the onscreen instructions to install the virtual comport on the computer The driver is located on the CD in the drivers folder 2 Double click on the SMC60WIN icon to run the SMC60WIN software 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 Ctrl A is a shortcut 5 Establish communications with the PCL601USB 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 After the 1st intial setup of the comport and axis settings the PCL601USB should connect to the software at when the software is launched Changing the COM Port Number of the USB port 1 From DeviceManager select View devices by type then Ports COM amp LPT Select the USB serial port and click Properties Select the Port Settings tab then click Ad vanced 2 Choose the required COM port number from the list and click OK L010183 12 September 2005 File Menu i SHCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help New Program C
38. junction with the analog speed lower limit and analog speed upper limit commands Analog speed lower limit Format value Description This command sets the lower limit that is used during the calculation following an M command for the analog speed input This command is used in conjunction with the analog speed enabled and max speed M commands Range 1 50000 Analog speed upper limit Format value Description This command sets the upper limit that is used during the calculation following an M command for the analog speed input This command is used in conjunction with the analog speed enabled and max speed M commands Range 1 50000 L010183 35 September 2005 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 0 255 Analog position lower limit Format value Description This command sets the lower limit that is used during the calculation following a P command for the analog position input This command is used in conjunction with the analog position enable and absolute position P commands Range 0 65535 Analog position upper limit Format value Description This command sets the upper limit that is used during the ca
39. lay useful information about each command L010183 21 September 2005 Add Tab Sheets Motion Commands COLA Proa ble ladez mane 2 imix Add Command z Goto For Loops Encoder and Analog Registration and Text Motion Commands If Then and Output Commands a Connan C Accel Decel C Move Steps C Base Speed Move to Position C Max Speed C Set Position C Jog Speed Finish Move C Repeat Last Move Home to Soft Home Limits Home to Home Limit Direction CW Direction CCW C Slew move continuously Stop Soft Stop Hard Motor Current On Motor Current Off C Wait milliseconds PE Comment amp amp amp Please choose a command i OK Cancel 477704 10 34AM I Accel Decel Set program acceleration amp deceleration parameter step sec Base Speed Set program base start speed rate step sec Max Speed Set program maximum running speed rate step sec Finish Move Command will allow any motion command to be completed before continuing to the next line of code This command should be used after every motion command Set Jog Speed Set program jogging speed rate step sec Direction CW CCW Set direction to clockwise or counter clockwise Motor Current ON OFF Set the current in the motor on or off Set Position Set motor position Command will repeat the previous index move Do not use with encoder autocorrect Repeat Last Move enabled nae
40. lculation following a P command for the analog position input This command is used in conjunction with the analog position enable and absolute position P commands Range 0 65535 Set address register Format value No address is needed before this function value will set the address Description This command sets the address for communication inside the PCL601USB controller Range 0 99 L010183 36 September 2005 Section 5 Troubleshooting Problem Cannot establish communications with the PCL601USB Possible Solutions 1 Make sure the PCL601USB controller has power Is the Green LED on 2 Check the USB connections 3 Check for loose cable connections either on the PCL601USB controller or USB Port 4 Was the software installed successfully 5 Go to Setup Com Port Settings and verify COM port and baud rate settings 6 Go to Setup Axis and verify address settings are the same 7 Click on Setup Connect icon to communicate with the PCL601 USB controller 8 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 PCL601USB controller Possible Solutions 1 Is the PCL601 USB controller connected to the appropriate power supply 2 Check for any blown fuses in line with the PCL601US
41. le Prograin Dis aio 43 Appendix 1 ASCII Table tor Direct Modos das Ni 44 Appendix 2 Firmware REVISIONS xian terete tada oi ratios ee es 44 L010183 2 September 2005 Section 1 Introduction The PCL601 USB is a single axis step motor controller containing 2 Kbytes of nonvolatile stored program ming space and quadrature encoder feedback The user can write the program and then have the PCL601USB autostart the program on power up It provides flexible independent control of stepper mo tors from computers or any machine controller with a USB port It is also capable of standalone operation making it an embedded machine controller The easy to use Windows software SMC60WIN can be used to directly control motion and to program the PCL601USB The PCL601USB also has the ability for real time functions Direct Mode is used to directly control motion for Real Time Movements through serial communication The PCL601USB has 40 commands which are easy to remember for direct movement of a stepper motor The PCL601USB communicates via an USB data bus A windows driver is provided to communi cate with the PCL601USB through a virtual comport from the PC This driver will turn any USB port into a virtual comport thus enabling simple serial programs to send information to the PCL601USB To use the SMC60Win software the virtual comport driver must be installed Special functions of the PCL601USB include 8 programmable open collector outputs and 6 TTL C
42. llows a thumbwheel with up to 7 decades to be used with the PCL601USB 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 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 i
43. n 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 Command Comments 33 L010183 Acceleration 1000 steps sec sec Send Text String 2141000 Send Text String 924100 Base speed 500 steps sec Send Text String 1B500 Send Text String 26100 Max speed 5000 steps sec Send Text String 1M5000 Send Text String 2M500 Enable thumbwheel Send Text String 1 1 Label TOP Direction CV send Text String 91 Send Text String 1N Go relative thumbwheel index Send Text String 1G Finish move Wait 500 msec Send Text String 2 Send Text String 2N400 Send Text String 926 Wait 5000 msec Send Text String 2 Send Text String 926 Wait 1000 msec Send Text String 1PO Go to position 0 Send Text String 1G Finish move Wait 1000 msec Goto TOP End of program 43 AxisD Accel 1000 Axis Accel 1000 Axis2 Accel 100 AxisD Base 500 Axis Base 500 Axis2 Base 100 AxisD Max 5000 Axis1 Max 5000 Axis2 Max 500 Enable AxisO Thumbwheel Enable Axis Thumbwheel AxisO CVV Axis CW Set Distance with thumbwheel AxisD Axis1 Go relative thum
44. nly exception to this would be use of the program examples in this manual Disclaimer Though every effort has been made to supply complete and accurate information in this manual the contents are subject to change without notice or obligation to inform the buyer In no event will Anaheim Automation 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 L010183 September 2005
45. nput 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 PCL601USB 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 commands are shown in the table on page 34 L010183 11 September 2005 Section 3 SMC60WIN Software The SMC60WIN software is a handy utility that supports Anaheim Automation s line of PCL601USB s step motor controllers Connecting your PC to the PCL601USB via a serial cable the SMC60WIN soft ware can easily perform the following tasks e Exercise and monitor the PCL601USB controller e Write and edit stored programs for standalone operation e Directly communicate with the PCL601USB controller Installation Software e The SMC6OWIN is supplied on a CD containing the setup program of the SMC60WIN software Windows Virtual Comport Driver PCL601USB manual and sample programs e SMC6OWIN is compatible with all versions of Windows including Windows 2000 and Windows XP Windows 95 98 NT ME 2000 XP Installation Option 1 1 Insert the CD into the drive 2 On the Windows Taskbar select Start Run 3 Enter D setup and click OK use the appropriate drive letter
46. ny origins otherwise the motor will decelerate as it goes past the soft limit switch during normal operation Home Limit Input This switch is used to establish a position designated home or datum position using 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 decelerate 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 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
47. ould 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 being Command Error E sent is valid 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 Range Overflow The go to position has an overflow error This is caused by the P command trying 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 to Range Error ii see if the parameters are invalid for the command that was sent To many parameters sent back to the PC This is an internal error caused by the eeprom Controller is in a wrong mode Some commands are good only in programming mode Mode Error while others are good only in direct mode Check the direct mode section to see which commands are good in direct mode 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 can Busy Error d A 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 Memory The command pulled from memory is invalid The command that was sto
48. red into the Command Error eeprom was non executable by the program This is an internal error edilicia There was an error reading the thumbwheel or the thumbwheel is not present Read Error Parameters L010183 38 September 2005 Section 6 Tutorial 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 instruction commands rt i i 4000 o Initilize Values Move 4000 Steps Repeat Last Move T 8000 Move to Position 0 then wait 500mSec Line Command Acceleration 1000 steps sec sec Base speed 500 steps sec Max speed 5000 steps sec Position register 0 AA o liado Label T0P Direction CW Go relative 4000 steps Move to 1st position Finish move w o ma colo Repeat last index Move to 2nd Position Finish move Go to position 0 Return to Zero Position Wait 500 msec Wait 0 5 Seconds Goto TOP Repeat moves End of program L010183 39 September 2005 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 L010183 1st 2n
49. s for the PCL601USB 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 isnot activated by this command it only sets the index register This com mand is used in conjunction with the thumbwheel enabled command O Set outputs Format 1 OR value Description This command sets the output register according to the binary value entered Output 1 is the LSB and output 8 is the MSB Range 0 255 Format 2 O output 0 or 1 Description 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 L010183 31 September 2005 P Absolute position and analog position Format 1 Description Range Format 2 Description S Go slew Format Description P value This command calculates and sets the number of clocks for the PCL601USB to send out following a G command Motion is not activated by this command it only sets the register N P 7 8388607 to 8388607 P This command uses the voltage on input 1 to calculate and set the number of clocks for the PCL601USB to send out following a G command The analog posi tion 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 lo
50. t 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 Line 0 41 0 M 2 Why L010183 Command Comments Acceleration 1000 steps sec sec Base speed 500 steps sec Analog speed lower limit 5000 steps sec Analog speed upper limit 10000 steps sec Enable analog speed Enable index on the fly Direction CCW Home type 1 home limit switch only Home to a physical switch Finish move Position register 0 Reset position register to O Label TOP lf input register 59 then execute the next line Input 2 high Input 3 low Goto INPUTGOOD Goto TOP Label INPUTGOOD Get max speed from analog input Registration index 2500 steps Direction CW Slew Finish move Output register 1 Turn output 1 on Wait 100 msec Output register 0 Turn output 1 off Go to position O Finish move Goto TOP End of program 42 September 2005 Sample Program 5 Sample Program 5 illustrates a typical 3 axis application where one PCL601 USB Axis 0 is controlling the other two axes Axis 1 and Axis 2 by using the send text string commands The program first sets the accelerations base speeds and maximum speeds for each axis It then is enabling Axis 0 and Axis 1 to use the thumbwheel switch that is connected to each unit for indexing The direction is then set for Axis 0 and Axis 1 and these two axes are the
51. te and Edit Program Stop the execution of the program in the controller memory Program Autostart Program Menu i SMHC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Start Program Stop Program View Program Upload Program Real Ti Clear Program Memory Autostart Program The Unit is Connected Version SMC60 Revision 1 00 Analog Input and humbhweel Options 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 ER SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Add BE ies F Insert Delete Es Registration Inputs Adds a new line of code to the end of the progam Edits the currently selected line of code The Unit is Connected Version SMC60 Revision 1 00 Insert a new line of code before the currently selected line of code Deletes the currently selected line of code L010183 14 September 2005 Help Menu i i SMC60WwIN Programmable Indexer Software Version 1 0 2 File Setup Program Edit Help Error Coder Reader E PCLE01 User s Guide www anaheimautomation com About Smad Input and Thumbhweel Options Create and Edit Program Woudel UPS a Registration Inputs Error Coder Reader Utility to read the error code generated by the PCL601 controller PCL601 User s G
52. trl N Open Program Ctri O Save Program As Ctrl S The Unit is Connected Version SMC60 Revision 1 00 Print Ctrl P Exit Ctra ncoder Options and Analog Input and E Thumbhweel Options Create and Edit Program Setup Menu E SMHC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Connect E Disconnect Com Port Se The Unit is Connected Version SMC60 Revision 1 00 Axis s z Encoder Options and Analog Input and E E eal Time Motion Registration Inputs Thumbhweel Options Create and Edit Program Establish communications with the controller Release the COM port for other devices to use Com Port Settings Select COM port Set axis selection and stored axis of the controller Setup Axis Menu E SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is Connected Version SMC60 Revision 1 00 Connect E Disconnect Com Port Settings Select Axis Define Axis Sets the axis select parameter in the SMC60WIN software 1 99 Sets the programmable address in the controller 1 99 L010183 13 September 2005 Program Menu E SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Start Program The Unit is Connected Ne Stop Program Version SMC60 Revision 1 00 View Program Upload Program ClearPi M jons and Analog Input and Real Ti PO a Crea
53. ts This command is used in conjunction with the encoder autocorrect EA command 0 255 29 September 2005 G Go number of steps Format Description H Home Format Description Home Types Read inputs Format 1 Description Format 2 Description Ranged J Fast jog speed Format Description Range L010183 G This command is used to send a set number of clocks out of the PCL601USB controller 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 accelera tion deceleration commands H O or 1 HO Intype 0 homing the PCL601USB 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 PCL601USB 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 com mands IR This command returns the binary value of the inputs to the PC Since the inputs are pulled up internally except input 1 they will return a high when they are open For example if all inputs are active grounded the command will
54. uide Opens up the User s Guide in pdf format www anaheimautomation com 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 PCL601USB controller If communications are not established please refer to the Troubleshooting Section The Unit is Connected Version SMC60 Revision 1 00 Real Time Motion E SMC6OWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is Connected Version SMC60 Revision 1 00 Ele Seup Program Ea Halo L010183 15 September 2005 Toolbar Exit the SMC60WIN software Start editing a new program Tab Sheets ER SMC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is Connected Version SMC60 Revision 1 00 z z Encoder Options and Analog Input and 7 Real Time Motion Registration Inputs Thumbhweel Options Create and Edit Program Real Time Motion Monitor and control motion of the controller Encoder Options and Registration inputs Monitor and change settings for encoder options input on the fly and output on the fly Analog poe dis Monitor and change settings to Analog Inputs and the thumbwheel switches Create and Edit Programs Write and edit PCL601USB stored programs
55. uts 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 milliseconds 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 register 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 T
56. wer limit and the analog position lower limit commands S This command will send clocks out to the PCL601USB 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 Description L010183 T O or 1 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 32 September 2005 V Verify Format V command Description This command can be used with most commands to verify the register contents This is a read only command Valid Commands are shown below Command Description Command Description A C E E E E E E e x v P very orcadergoson ver aro postion erene METEO Ww mu IE AE Z Position Format Z value Description This command sets the current position as a reference This register can contain a positive or negative value but cannot be changed while motion is in progress Range 8388607 to 8388607
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