Anaheim Stepper CLCI2000 Users Guide

28 HOMING (0 or 1)
There are 2 homing modes, Home Type 0 and Home Type 1.  
Home Type 0 uses the Soft Limit Switch, and the Home
Limit Switch.  When the Soft Limit Switch is
encountered, the motor will start ramping down to the
Base Speed.  When the Home Limit Switch is
encountered, the motor will stop.
Home Type 1 uses only the Home Limit Switch.  When
the Home Limit Switch is encountered, the motor will
ramp down to the Base Speed and then stop.  The
motor will then go in the opposite direction at...

29 SET OUTPUTS (5 characters, a space, 5 characters)
To select the command Set Outputs, type the Command Key O.  This command will set the outputs to the value that
is specified.  At power up, all outputs are in their open collector (off) state.
SET POSITION (-8,388,608 to 8,388,608)
To select the command Set Position, type the Command Key S.  This command will set the position to the value
specified.  Positive and Negative numbers are valid from 0 to ±8,388,608.
UNITS/SCALE (any number)
To select the...

30 ADVANCED PROGRAMMING
In modifying an existing Library, or writing a new software library, It is strongly advised that programmers should use the
current libraries for Basic or C, and transfer them to the different languages.  The current libraries are bug free, so this
will help the programmer to produce bug-free code.
The CLCI2000 is designed to plug into any AT/ISA PC Compatible bus.  This is the bus used by most PC Manufacturers.
The CLCI2000 communicates over an  8-Bit bus.  All information going...

31 ADDRESS SELECTION (Hex)FUNCTION
Base Address through Base Address + 3 READ INPUTS 1-5
(H00 -H03)
Base Address + 4 through Base Address + 7 SET OUTPUTS 1-5, A:HOME DIR, B:HOME
(H04-H07)DIR
Base Address + 8 through Base Address + 11 READ INPUTS 6-10
(H08 -H0B)
Base Address + 12 through Base Address + 15SET OUTPUTS 6-10, C:HOME DIR,
(H0C -H0F)D:HOME DIR
Base Address + 16 (H10)A:Command Buffer Register
Base Address + 17 (H11)A:Register Bits 0-7 (LSB)
Base Address + 18 (H12)A:Register Bits 8-15 (Mid)
Base...

32 DATA BITS COMMAND SET TYPE
(SEE DESCRIPTIONS FOR INDIVIDUAL COMMANDS)
D7D6
00START OR STOP COMMANDS
01INITIAL SETUP COMMANDS
10INITIAL SETUP COMMANDS
11INPUT AND OUTPUT CONTROL COMMANDS
COMMAND BUFFER REGISTER
Description of Command
76543210
00X00X00Changes to constant speed operation at the Base Speed rate. *
00X00X01Changes to contant speed  operation at the Max Speed rate. *
00X00X10Ramps up or down to the Base Speed rate. *
00X00X11Ramps up or down to the Max Speed rate. *
00X01X00Changes...

33 DATA BITFUNCTION OF BITIF IT IS A 0IF IT IS A 1
0Pulse Rate Source SelectionBase SpeedMax Speed
1Ramping Up/Down EnableNo RampingRamping
2Pulse Direction SelectionCWCCW
3STOPNo FunctionStop
4STARTNo FunctionStart
5No FunctionNo FunctionNo Function
6MUST BE A ZEROAlwaysNot Allowed
7MUST BE A ZEROAlwaysNot Allowed
START STOP COMMAND INDIVIDUAL BIT DEFINITIONS
INITIAL SETUP COMMANDSTo set up the Position Register and Encoder Register, set the following
send to the Command Buffer Register:  136
send to...

34 It is necessary to determine the optimum value for the R4 Factor in order to obtain the desired Base Speed and Max
Speed.  Some balance must be reached between the lowest and highest desired speeds to allow for the most accurate
settings of each.  A large factor will produce the smoothest ramping, but will not allow for very high speeds.  A low factor
will produce the higher speeds, but the ramping is not as smooth.  In the subroutines affecting the speed settings, the
highest possible factor is used...

35 NOTES 

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