Anaheim Stepper CLCI2000 Users Guide

8 DIRECTION SIGNALS
This output is TTL/CMOS compatible.  The source current rating (Voh = 2.7 V) is 12mA. The sink current rating (Vol =
0.5 V) is 9mA.  The Direction signal is +5VDC for + or clockwise motion, and 0VDC for - or counterclockwise motion.
SOFT LIMIT
This input will cause the motor to ramp down to the base speed.  This input contains a 2.5K pullup resistor to +5VDC.
It should be activated by connecting it to the 0VDC pin, or a logic level that can sink 2.0mA at TTL levels.
HOME LIMIT
This is...

9 ENCODER INPUTS
A Rotary Encoder is a device that measures rotation of a shaft.  The encoder can be mounted on the step motor shaft,
or for even greater accuracy, it can be mounted on the shaft of the load.  The encoder sends signals in a format called
quadrature to the controller which will take this data and use it to verify the motor position.  The encoder has four or five
wires:  Power, Ground, Phase A, Phase B, and a Marker Pulse .  The encoder can be used to form a closed loop system
which will...

10 PROGRAMMING WITH ANAHEIM AUTOMATION LIBRARIES
Anaheim Automation has written Libraries that can be used to control the CLCI2000 Series Indexer Board in many
different languages.  These languages include QuickBASIC, VisualBasic, C, and any Windows programming language.
There are two different libraries written for the BASIC languages, one library for the C users, and one library for the
windows users (this Windows Library must be requested).  The Libraries contain all the code necessary to control the...

11 CLCISUB1.BAS LIBRARY
The CLCISUB1.BAS Library is for use with QuickBASIC, VisualBasic for DOS, or any other similar BASIC based
programming languages.  This Library is set up to run CLCI2000 Series Indexers at any open addresses.  The following
is a command list for all the usable Subroutines and Functions in this Library.  This is a comprehensive list that will allow
complete control of the CLCI2000 Series Index Boards.  To use these commands you need to LOAD the file
CLCISUB1.BAS into your main...

12 This Function will return the value of the +Hard Limit Switch.  If the Limit Switch is ACTIVE or 0VDC, the function will
return a 1.  If the Limit Switch is NOT ACTIVE, the function will return a 0.
HOME.CCW  ADDRESS, AXIS#This Subroutine will HOME (sometimes called SLEW) the motor in the counterclockwise direction.  The motion begins
at Base Speed, ramps up to Max Speed and continues moving in that direction until the software instructs it to do
something different, or a hardware Limit Switch is...

13 marker pulse.  The marker pulse must be enabled by the LIMIT.CONTROL Command for this Command to work
properly.
ORIGIN.INDEX.CW  ADDRESS, AXIS#  
This Subroutine will move in the CW Direction at base speed until the Encoder Marker is active.  When the Encoder
Marker is active the motion will stop.  This is a good way to home the motor to a rotary position using the encoders
marker pulse.  The marker pulse must be enabled by the LIMIT.CONTROL Command for this Command to work
properly.
POSITION...

14 what the state of the five Outputs will be.  A 1 for the Outputs will turn the Output ON, and a 0 will turn the output OFF.
The last two numbers will specify which home switch will be chosen HOME.DIR.3 refers to AXIS 3 (also called Axis C),
and HOME.DIR.4 refers to AXIS 4 (Also refered to as Axis D).  Only one home switch may be chosen for each axis at
a given time.  A 1 will specify that the + or CW direction Home Limit Switch will be chosen.  A 0 will specify that the
- or CCW direction Home Limit...

15 SAMPLE #1 (PROGRAM SAMPLE1.BAS ON THE CLCI2000 DISK)
This is a sample program written for a single axis.  If Input #1 is active, then the motor will move in the
clockwise direction 5000 steps.  If input #2 is active then the motor will move in the counterclockwise direction
4000 steps.  It continues this loop indefinitely.
PROGRAM FOR QUICKBASIC OR VISUALBASIC USING CLCISUB1.BAS
DECLARE ()...this representation is for all the declare statements
ADDR = &H300sets up the variable for the board address...

16 SAMPLE #2 (PROGRAM SAMPLE2.BAS ON THE CLCI2000 DISK)
This sample shows two different homing routines that can be used to home the motors.  The first routine callled
Home Type 0, uses two switches - the first switch causes the motor to ramp down to base speed, and the second
switch causes the motor to stop.  The second routine, Home Type 1, uses only 1 switch -  when the switch is
activated the motor will ramp down to base speed, the mechanics need to be made in such a way that the switch
will be...

17 CLCISUBS.CPP PROGRAM FUNCTION DEFINITIONS
The CLCISUBS.CPP Library is for use with C or C++ programming languages.  It can also be used with other versions
of C or C++ with little or no modifications to the code.  This Library is set up to run CLCI2000 Series Indexers at any
open address.  The following is a command list for all the usable Functions in this Library.  This is a comprehensive list
that will allow complete control of the CLCI2000 Series Index Boards.  Refer to your programming manual for...