Anaheim Stepper CLCI2000 Users Guide
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USERS MANUALfor CLCI2000 SERIES 1 to 4 AXIS COMPUTER INDEXERS Anaheim Automation(714) 992-6990 (714) 992-0471 fax May 6, 2002 #L010018
COPYRIGHT Copyright 1993 by Anaheim Automation. 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, 910 E. Orangefair Lane, Anaheim, CA 92801. The only exception to this would be use of the program examples in this manual. DISCLAIMER Though every effort has been made to supply complete and 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 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 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 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 Automations plant in Anaheim, California. TRADEMARKS Control Link and Driver Pack are registered trademarks of Anaheim Automation. IBM PC is a registered trademark of International Business Machines, Inc.
TABLE OF CONTENTS DESCRIPTION ............................................................1 General Description....................................................1 Main Features........................................................1 Packing Information....................................................1 Ordering Information...................................................2 SPECIFICATIONS..........................................................4 INSTALLATION ............................................................5 Installing the Board....................................................5 Wiring to the CLCI2000.................................................5 Address Settings......................................................5 QUICKSTART WITH QUICKBASIC.............................................6 CONNECTOR DESCRIPTIONS................................................7 PROGRAMMING WITH ANAHEIM AUTOMATION LIBRARIES......................10 Programming with QuickBASIC or VisualBasic for DOS.......................10 Speed Considerations.................................................10 CLCISUB1.BAS LIBRARY...................................................11 Sample Program #1...................................................15 Sample Program #2...................................................16 CLCISUBS.CPP PROGRAM FUNCTION DEFINITIONS............................17 Sample Program #3...................................................19 PROGRAMMING IN WINDOWS..............................................20 WIN2000.BAS Program Listing..........................................21 CLCI2004 PROGRAM GENERATOR..........................................22 CLCI2004 PROGRAM GENERATOR COMMAND DICTIONARY.....................26 ADVANCED PROGRAMMING................................................30
1 DESCRIPTION GENERAL DESCRIPTIONThe CLCI2000 Series Indexer is one of ANAHEIM AUTOMATIONs Computer Indexer that generates clock and direction signals for a step motor drivers. This Indexer allows the user to control speed, ramping, position, and I/O to perform complex motion with step motors. The CLCI2000 Series can control from 1 to 4 axes, using only one computer slot found in an IBM Compatible Computer. The Indexer was designed to produce pulse rates far above those offered by most indexers. To run todays microstep drivers, faster pulse rates are needed. The 2.5MHz provided by this indexer will step a 200 step/rev motor with a divisor of 256 at nearly 50 rps (or almost 3000 RPM). Since the Indexer is controlled by a computer, very complex programs can be written to control the motion. This power is not available in other units. The Computer Indexer contains up to 10 TTL inputs, and 10 Open Collector Outputs. It also has Limit Switch inputs including ±Soft Limits, ±Home Limits, ±Hard Limits. Along with the inputs are Encoder Inputs, Channel A,B, and Z. The 1 and 2 axis boards bring out their signals on a 37 pin D-Sub connecter. The 3 and 4 axes units use 2, 37 pin D-Sub connectors. A ribbon cable and mounting bracket is provided for the second connector. MAIN FEATURES‘ step rates to 2,500,000 steps/second ‘ 1, 2, 3 or 4 axes of motion control ‘ encoder feedback included for all 4 axes ‘ Encoder Mark Pulse input for precision stopping ‘ CW and CCW Soft, Home, and Hard limit inputs ‘ TTL-CMOS compatible inputs ‘ 5 testable inputs per two axes ‘ 5 programmable outputs per two axes ‘ uses true acceleration units of Steps/Sec*Sec ‘ standard 37 pin D-SUB connection ‘ uses one 8-bit computer slot ‘ 3rd & 4th axes includes cable and connector ‘ independent or coordinated control of all 4 axes ‘ use Anaheim Automations QuickBASIC, VISUAL BASIC, C++ Libraries, or Windows DLL ‘ not speed dependant on the computer ‘ does not tie up the computers processor ‘ use CLCI2000 software for easy control for non-programmers ‘ up to 16,777,215 steps per index ‘ breakout terminal block kit ‘ independent or coordinated axis moves PACKING INFORMATIONCLCI2001 1 CLCI2001 Computer Indexer 1 CLCI2000 SERIES DISK 1 #6 x 1/4 screw 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers CLCI2002 1 CLCI2002 Computer Indexer 1 CLCI2000 SERIES DISK 1 #6 x 1/4 screw 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers CLCI2003 1 CLCI2003 Computer Indexer
2 1 Ribbon cable with DB37 Connector and bracket 1 CLCI2000 SERIES DISK 2 #6 x 1/4 screws 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers CLCI2004 1 CLCI2001 Computer Indexer 1 Ribbon cable with DB37 Connector and bracket 1 CLCI2000 SERIES DISK 2 #6 x 1/4 screws 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers ORDERING INFORMATION 1-AXIS Indexer BoardCLCI2001 2-AXES Indexer BoardCLCI2002 3-AXES Indexer BoardCLCI2003 4-AXES Indexer BoardCLCI2004 1-AXIS Driver Pack DPI65201 2-AXIS Driver PackDPI65202 DB37,MF Cable, 6 feet AA37MFC-6 DB37,MF Cable, 10 feetAA37MFC-10 DB37,MM Cable, 6 feetAA37MMC-6 DB37,MM Cable, 10 feetAA37MMC-10 Terminal Breakout BoardAA2M37 ORDERING INFORMATION CLCI2001This is the part number for a 1-Axis Computer Indexer Board. CLCI2002This is the part number for a 2-Axis Computer Indexer Board. CLCI2003This is the part number for a 3-Axis Computer Indexer Board. CLCI2004This is the part number for a 4-Axis Computer Indexer Board. DPI65201This is the part number for a Single Axis Driver Pack that is configured to interface with a CLCI2001. The Driver Pack contains Anaheim Automations 1.0 to 7.0 Amp driver (AA2300B), 300 watt power supply, breakout terminal board, and interface connector. To connect from the CLCI2001 to the Driver Pack, a 37 pin cable is needed (AA37MMC-6 or AA37MMC-10). The breakout terminal board provides all the connections to the Limit Switches and I/O from the DB37 connector. The Clock and Direction signals are internally connected to the driver. DPI65202This is the part number for a Dual Axis Driver Pack that is configured to interface with a CLCI2002. The Driver Pack contains Anaheim Automations 1.0 to 7.0 Amp drivers (AA2300Bs), 300 watt power supply, breakout terminal board, and interface connector. To connect from the CLCI2002 to the Driver Pack, a 37 pin cable is needed (AA37MMC-6 or AA37MMC-10). The breakout terminal board provides all the connections to the Limit Switches and I/O from the DB37 connector. The Clock and Direction signals are internally connected to the driver. AA37MFC-6This is a DB37 Cable with a male connector on one end and a female connector on the other. The cable is 6 feet long. This cable should be used with the CLCI2000 Series Indexer and the AA2M37 Terminal Breakout Board.
3 AA37MFC-10This is a DB37 Cable with a male connector on one end and a female connector on the other. The cable is 10 feet long. This cable should be used with the CLCI2000 Series Indexer and the AA2M37 Terminal Breakout Board. AA37MMC-6This is a DB37 Cable with a male connector on both ends. The cable is 6 feet long. This cable should be used with the CLCI2000 Series Indexer and the DPI65200 Series Driver Packs. AA37MMC-10This is a DB37 Cable with a male connector on both ends. The cable is 10 feet long. This cable should be used with the CLCI2000 Series Indexer and the DPI65200 Series Driver Packs. AA2M37This is a DB37 Breakout Board. This board contains a DB37 Male Connector, and screw terminal blocks to aid in wiring to the CLCI2000 Series Indexers. The cable needed to interface between the Indexer and this module is the AA37MFC-6 or AA37MFC-10.
4 SPECIFICATIONS POWER REQUIREMENTS5 VDC @ 500mA BUS ARCHITECTUREISA Bus (PC/XT/AT/x86 Compatible) INPUTSLogic 00 to 0.8 VDC Logic 13.5 to 5 VDC All Inputs are pulled up to 5 VDC CLOCK OUTPUTHCMOS Type source current 16mA (Voh=2.7V) sink current 12mA (Vol=0.5V) DIRECTION OUTPUTHCMOS Type source current 8mA (Voh=2.7V) sink current 6mA (Vol=0.5V) OUTPUT 1 - OUTPUT 10Open-Collector Type max individual sink current 500mA total sink current 3.0A with 27% duty cycle total sink current 2.4A with 35% duty cycle total sink current 1.5A with 52% duty cycle total sink current 0.8A with 100% duty cycle Max Voltage 50V +5 VDC OUTPUTThis is the computers or backplanes power source; consult the appropriate manual for more information. AMBIENT TEMPERATURE0 to 50 degrees Celsius SIZE3.90 in. x 13.1 in.
5 INSTALLATION INSTALLING THE BOARDThe Board Mounts into an IBM PC Compatible Computers 8 bit Expansion Slot. To install the Board, line the back of the board up with the card guide in the back of the computer. Gently but firmly press the board into the Expansion slot. Screw down the mounting bracket with the screw provided. If the computer does not have a card guide, be sure to secure the board in some fashion so that it will not touch any other boards or the metal case. The dimensions of the board are shown to the right. WIRING TO THE CLCI2000The CLCI2000 Series Indexers comes with either 1 or 2 37 Pin D-sub type connectors. These connectors contain signals that must be connected to the Driver to control the step motors. One simple way to do this is to buy the DPI65200 Series Driver Pack which allows the two to be connected by a simple 37 pin cable (good for 1 and 2 axis versions only). Another solution is to buy the AA2M37 Breakout Terminal Board. This takes a 37 Pin D-sub connector and breaks out those pins into two strips of terminal blocks. Wires can then be inserted into the terminal blocks and can be connected to the Drivers and any other necessary devices. Another way is to make up a cable by soldering wires into a solder cup type 37 Pin D-sub connector. The only wires that need to be connected are the wires being used. ADDRESS SETTINGSThe Board will be sent from the factory with a HEX Base address setting of 300. This will be the setting necessary for the CLCI2004 Software. The CLCISUB1.BAS AND CLCI2000.CPP LIBRARY FILES will support any address. There is a 5 pin dip switch on the CLCI2000 to select the base address. This will enable the user to select any address between Hex 000 and Hex 3FF. The figure shown on the right is set for Base Address Hex 300. In Binary, this setting would be described as 11000. The leftmost digit (or bit) pertains to switch number 1 on the 5 pin dip switch. For a 1 setting, the switch should be OFF. For a 0 setting, the switch should be ON. Below is a table for various Base Address Settings. BASEDIP SWITCHBASEDIP SWITCH ADDRESSSETTINGADDRESSSETTING 2001000011000 300* 2201000132011001 2401001034011010 2601001136011011 2801010038011100 2A0101013A011101 2C0101103C011110 2E0101113E011111 *FACTORY SETTING
6 QUICKSTART WITH QUICKBASIC This is a quick procedure for hooking up the CLCI2000 Series Computer Board with a Driver and Step Motor. 1.Plug the CLCI2000 Series Computer Indexer into the computer. 2. Connect the cable from the computer to the DPI Series Driver Pack (verify that the LED lights up when the connector is plugged in), or alternately, connect only the Clock, Direction, and 0VDC signals from the computer connector to the driver pack. 3.Check the Driver for the appropriate voltage or current settings (whatever applies for specific driver/motor used). 4.Make sure that Power is OFF to the Driver, and connect the Step Motor to the Driver. Make sure the wires are firmly connected. 5.Start QuickBASIC. (If you do not think that you have a copy of QuickBASIC - Microsoft shipped this with all versions of DOS 5.0 and greater - look in your DOS Directory for QBASIC.EXE.) 6.TypeALT-F (hold the ALT Key down and type F) 7.Type B:\SAMPLE3.BAS (AND HIT ENTER 5 5) (it is assumed here that the disk is in drive B - if the disk was put somewhere else, enter the correct path) 8.TypeALT-R and choose RUN (hold the ALT Key down and type R, then use the arrow keys) If all this was done successfully, the motor should turn 400 steps, pause for 1 second, and go 400 steps again.
7 CONNECTOR DESCRIPTIONS The CLCI2000 Series Indexer will come with either one or two 37 Pin D-Sub Connectors. For a CLCI2001 and CLCI2002, there is only one connector. For a CLCI2003 and CLCI2004 there is a second connector that connects to the board via a 37 pin ribbon cable. This second connector will need a port location to screw down to. NOTE: This does not require an extra expansion slot to plug into, but only a space to screw down the connector. The connectors are Female D-Sub types. The pinouts for the first connector (axis A and B) is slightly different than the pinouts for the second connector (Axis C and D). PIN DESCRIPTIONPINFUNCTIONDESCRIPTION FUNCTION 1 +5VDC 5 VOLT DC OUTPUT20A:HOME+A: + HOME LIMIT SWITCH 2 OUT1 OUTPUT 121A:HOME-A: - HOME LIMIT SWITCH 3 OUT2 OUTPUT 222A:HARD+A: + HARD LIMIT SWITCH 4 OUT3 OUTPUT 323A:HARD-A: - HARD LIMIT SWITCH 5 OUT4 OUTPUT 4240 VDCO VOLT DC REFERENCE 6 OUT5 OUTPUT 525B:CLOCKB: CLOCK 7 0VDC 0 VOLT DC 26B:DIRB: DIRECTION 8 IN1 INPUT 127B:EAB: ENCODER CHANNEL A 9 IN2 INPUT 228B:EBB: ENCODER CHANNEL B 10 IN3 INPUT 329B:EZB: ENCODER CHANNEL Z 11 IN4 INPUT 430B:SOFT+ B: + SOFT LIMIT SWITCH 12 IN5 INPUT 531B:SOFT-B: - SOFT LIMIT SWITCH 13A:CLOCK A: CLOCK32B:HOME+B: + HOME LIMIT SWITCH 14 A:DIR A: DIRECTION33B:HOME-B: - HOME LIMIT SWITCH 15 A:EA A: ENCODER CH. A34B:HARD+B: + HARD LIMIT SWITCH 16 A:EB A: ENCODER CH. B35B:HARD-B: - HARD LIMIT SWITCH 17 A:EZ A: ENCODER CH. Z360 VDCO VOLT DC REFERENCE 18 A:SOFT+ A: + SOFT LIMIT SWITCH37NCNO CONNECTION 19 A:SOFT- A: - SOFT LIMIT SWITCH DB37 PINOUT FOR AXES A & B +5VDC This is the +5VDC supplied by the computers power supply. See your Computer Manual for the specifications regarding this pin. CLOCK SIGNALS This is the signal that will be connected to the Step Motor Driver. The driver will take one step for every clock pulse sent to it. For instance, if a pulse train of 1000 pulses is sent at 50 Hz (50 clock pulses per second) to the driver the step motor will go 1000 steps, and will take 20 seconds. The output clock 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 clock signals are negative going.