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26

#L010120

November 2001

P -  Absolute Position

 

Format: 

P [value]

 

Description:  This command calculates and sets the number of steps necessary to move to the  

 

 

 

specified position. (N=P-Z)

 

Range:  

-8388608 - 8388607

N - Number of Steps

 

Format: 

N [value] 

      

 

Description:  This command sets the number of clocks for the PCL501(PC) to send out follow-

ing  

 

 

 

a G command.

 

Range:  

0 - 8388607

G - Go Number of Steps

  Format: G

 

Description:  This command is used to send a set number of clocks out of the PCL501(PC).    

 

 

An N or P command must be entered before the G command.

S - Go Slew

 

Format : 

S

 

Description:  This command will send clocks out to the PCL501(PC). The only commands that   

 

 

can stop the clocks are; . (stop motion) or LS (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.

J -  Jog  Speed

 

Format: 

J [value]

 

Description:  This command sets the jog speed. This value must be greater than the base speed.

 

Range:  

77 - 15000

July 2018

L010121

Содержание PCL501

Страница 1: ...1PC Programmable Step Motor Controller User s Guide 4985 E Landon Drive Anaheim CA 92807 e mail info anaheimautomation com 714 992 6990 fax 714 992 0471 website www anaheimautomation com A N A H E I M A U T O M A T I O N July 2018 L010121 ...

Страница 2: ...Functions 11 Section 3 SMC50WIN Software 14 Installation 14 Getting Started 14 The Unit is Connected The Unit is NOT Connected 15 File Menu 15 Setup Menu 15 Toolbar 16 Tab Sheets 16 Motion Tab Sheet 16 Motion Tab Sheet Tutorial 17 Program Tab Sheet 18 Current Program Filename 18 SMC50 Memory Available 19 Currently Selected Line 19 Add Change Insert Commands 19 Motion Command Tab Sheet 20 Program P...

Страница 3: ...speed start up speed max speed running speed and the number of steps to be taken in both relative and absolute positioning modes On absolute positioning moves the PCL501 PC 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 PCL501 PC has a high level command set includin...

Страница 4: ... one port The jumpers are considered ON 1 when they are in position 1 2 and OFF 0 when they are in position 2 3 To access the jumpers remove the inner two screws on the bottom of the front cover and the two screws on the top of the PCL501 PC Remove the back plate from the cover The circuit board will still be mounted inside the cover The jumpers are located on the back of the circuit board You do ...

Страница 5: ...PC is to use the software program SMC50WIN to either manually control or to write and send programs This method is used when the PCL501 PC is the main controller For example A PCL501 PC can replace simple motion control and replace I O functional when minimal quantities of I O are required to control specific machinery Simple motion profiles that can operate with 4 or less inputs and 2 or less out...

Страница 6: ... is necessary to keep the VCM common mode voltage at the receiver within a safe range From the diagram below it can be seen that all wires are run directly from the converter to the PCL501 For example TX from the converter goes to TX on the PCL501 and so on Two Wire Configuration The two wire configuration reduces cabling costs by requiring only three wires A B and ground The PCL501 is designed to...

Страница 7: ...s on the driver For the ON OFF input one of the PCL501 PC outputs can control this function For a driver with TTL CMOS inputs the PCL501 PC has a negative going clock and will sink the current from the driver s inputs Wire the clock and direction outputs and 0VDC reference of the PCL501 PC to the clock and direction inputs and 0VDC reference of the driver respectively Once again an output of the P...

Страница 8: ...tage spikes Outputs CLK DIR Open Drain Type 40VDC 75mA Terminal Descriptions Note Pin 4 on TB4 is an available 5V out at 50mA if power is supplied by the 8 24VDC or 8 16VAC Pin Description 1 TX 2 TX 3 RX 4 RX 5 RS485 Ground TB1 PCL501 only Pin Description Comments 1 OUT1 Open Drain 2 OUT2 Open Drain 3 IN1 Active Low 1 4 IN2 Active Low 2 5 IN3 Active Low 4 6 IN4 Active Low 8 7 0VDC Reference TB3 Pi...

Страница 9: ...9 L010120 November 2001 Dimensions PCL501 PCL501PC July 2018 L010121 ...

Страница 10: ...10 L010120 November 2001 Wiring Diagrams PCL501 PCL501PC July 2018 L010121 ...

Страница 11: ...mit or home to soft home limit Home to Soft Home Limit 2 Switch Operation This type requires two grounding type limit switches called home and soft The first limit switch soft will decelerate the motor down to base speed It will con tinue to run at base speed until it receives a home limit switch input causing the motor to stop The home limit switch only activates after a soft limit is sensed The ...

Страница 12: ... actual jog rates can be programmed Fast jog is not programmable 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 Programmable Inputs and Outputs Four inputs ...

Страница 13: ... be less than the max speed Range 77 to 3500 Loop The loop instruction allows the user to loop a program a variable number of times The program will loop to the designated address location of the program The address must always be a lower address value than the instruction itself No nested loops are allowed Jog Speed The jog speed sets the slow jog rate Jog can also be used in conjunction with the...

Страница 14: ...are 2 Apply power to the PCL501 PC unit 3 Set the appropriate communication setting by selecting Setup Communication Setting from the menu bar 4 Establish communications with the PCL501 PC by clicking on the Connect Icon or select Setup Connect If the unit is connected properly the program will notify you when commu nica tions has been established Section 3 SMC50WIN Software The SMC50WIN software ...

Страница 15: ...hooting section New Program Start a new program Open Program Open existing program Save Program As Save current program Print Print current program Exit Exit the SMC50WIN software File Menu Setup Menu Connect Establish communications with the controller Communication Settings COM port baud rate settings Axis Select axis 0 31 for multi drop units Autostart Program Enable disable program execution o...

Страница 16: ...gram Open Open an existing program Save Save the current program Print Print the current program Calculator Desktop calculator Connect Establish communication with the controller Tab Sheets Motion Controls and executes motion on the controller Program Write and modify PCL501 PC stored pro grams Motion Tab Sheet July 2018 L010121 ...

Страница 17: ...the soft switch is triggered followed by triggering the home switch to stop motion Two switches are required to stop Move number of steps below Motor will move number of steps entered Slew Motor will ramp up to maximum speed and keep moving until stop motion is trig gered Move to Position Motor will move to specified position Stop Motion Stop any motor motion Inputs View inputs checked ON blank OF...

Страница 18: ...controller memory Stop Abort program execution Add Adds a new line of code to the end of the program Change Edits the currently selected line of code Insert Insert a new line of code before the currently selected line of code Delete Deletes the currently selected line of code Current Program Filename With the program tab sheet selected the user can obtain the current program filename located in th...

Страница 19: ...d 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 Add Change Insert Commands Add command contains 2 different tab sheets which are Motion Parameters and Program Parameters Motion Parameters Software section that allows user to enter speeds positions direction etc Prog...

Страница 20: ...s and etc It works similar to the Motion Tab Sheet explained above in the Getting Started section To add a line of motion control select appropriate motion control from the list then enter the required value for that particular action Then click OK Comment is optional for any lines of code The text box above the OK and Cancel buttons will display useful information about each command July 2018 L01...

Страница 21: ...iate motion in the direction last entered seeking the soft input first to slow the motor down to base speed then to stop when the home limit is triggered Home to Home Limit Command will initiate motion in the direction last entered seeking the home limit which will stop the motor reverse the motor direction and stop when the home limit switch is no longer triggered Finish Move Command will allow a...

Страница 22: ...he selected or checked input box If the inputs 1 through 4 do not match the next line is skipped Set Outputs The outputs can be turned on 1 or off 0 These outputs can be used to trig ger PLC operations relays solenoids etc Wait ______ milliseconds This command allows the user to enter a delay in milliseconds This wait com mand is useful for pausing the program from reading the next command Quit Pr...

Страница 23: ...to revolution per second RPS PPS Convert from revolution per second to pulses per second Steps Per Rev 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 Close Exit Calculator July 2018 L010121 ...

Страница 24: ...e Return After the command the PCL501 PC will return a SMC50 the current version number Note In direct talk mode each command is followed by a carriage return The unit communicates in half duplex mode therefore proper setup of hyper terminal is necessary to view characters if characters are to be echoed back to the screen Section 4 Direct Talk Mode Instructions All instructions require that no spa...

Страница 25: ...art speed for motion This value must be set be fore motion begins and be less then the maximum speed Range 77 3500 Version Number Register Format Description This command requests the PCL501 PC to return the version number M Max Speed Format M value Description This command sets the maximum running speed for motion This value must be set before motion begins and be greater then the base speed Rang...

Страница 26: ...s command is used to send a set number of clocks out of the PCL501 PC An N or P command must be entered before the G command S Go Slew Format S Description This command will send clocks out to the PCL501 PC The only commands that can stop the clocks are stop motion or LS 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 s...

Страница 27: ...ed then change directions ramp down to base speed and stop upon release of the home limit input Z Position Format Z number 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 8388608 to 8388607 Stop Motion Format Description This command will stop all motion It can also be u...

Страница 28: ...value Output 1 is the LSB and output 2 is the MSB Range 0 3 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 A B F J M N 0 P Z and L0 Get Limit Status Format L0 Description This command returns the binary value of the hard and soft in a binary format The soft limit is the LSB and the har...

Страница 29: ...ing 8 Click on Connect icon to communicate with the PCL501 PC 9 If problems still exist contact Anaheim Automation Tech Support Problem There is no power to the PCL501 PC Possible Solutions 1 Is the PCL501 PC connected to the appropriate power supply 2 Check for any blown fuses in line with the PCL501 PC 3 If problems still exist contact Anaheim Automation Tech Support Problem My program won t Aut...

Страница 30: ...iles 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 32 Range Overflow Error The go to position has an overflow error This is caused by the P command trying to find a position that is out of its range 64 Range Error There was an invalid number of commands and characters sent to the controller Check to see if the ...

Страница 31: ...m 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 0 4000 8000 Start Initiate Values Move 4000 Steps Repeat Last Move Move to Position 0 Quit July 2018 L010121 ...

Страница 32: ...here a system is first sent home to a datum or 0 po sition This sample program shows how a motor will move to 3 different positions utilizing some of the motion commands and loop routine 0 Position Home Position 2 4 6 1st Position 2nd Position 3rd Position Labeler Dryer Capper July 2018 L010121 ...

Страница 33: ...3 L010120 November 2001 Start Initialize Parameters Move to 1st Position Labeler Move to 2nd Position Dryer Move to 3rd Position Capper Quit Delay 1 Sec Loop 3 Times Home to Position 0 July 2018 L010121 ...

Страница 34: ...SCII Symbol Hex Value Carriage Return 0D I 49 0 30 J 4A 1 31 L0 4C 30 2 32 LS 4C 53 3 33 M 4D 4 34 N 4E 5 35 O 4F 6 36 P 50 7 37 S 53 8 38 V 56 9 39 Z 5A A 41 21 B 42 24 F 46 2B G 47 2D H 48 2E Appendix 1 ASCII Table for Direct Mode July 2018 L010121 ...

Страница 35: ... or inability to use the product or documentation Limited Warranty AllAnaheimAutomation 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 wh...

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