Anaheim Stepper CLCI2000 Users Guide
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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 Base Speed until the Home Limit Switch is encountered again. The Home FLAG must go past the switch that triggers it, and come off of it. It will then reverse direction and then stop when the switch is sensed again. The sequence that the switch must go through is: a Low Level, a High Level, and then back down to a Low Level. IF INPUTS THEN... (5 characters, a space, 5 characters), Line# To select If Inputs Then..., type the Command Key I. This command will check the value of the Inputs and loop to the specified line number if they match what was specified. INDEX TO POSITION (-8,388,608 to 8,388,608) To select Index to Position, type the Command Key P. The Indexer will internally calculate the correct direction and distance to index. JUMP TO LINE (1 to 1000) To select Jump to Line, type the Command Key J. The software will jump forwards or backwards to the specified line when it reaches this command. LOOP TO X, Y TIMES (1 to 1000, any real number for times) To select Loop to X,Y Times, type the Command Key L. The software will loop to the specified line given as X, the number of times given by Y. In the initial release of this software (below version 2.00) nested looping will not be allowed. MAX SPEED (.001 to 2,500,000) To select the Max Speed, type the Command Key M. This command will set the Maximum Speed. The default for this number is 4000. NUMBER TO INDEX (0 to 16,777,215) To select the Index Number, type the Command Key N. This command will set the distance to index by the Go Command. The default for this number is 400. QUIT (no value) To select the Quit Command, type the Command Key Q. This will stop execution of the program. RAMP (any number) To select the Ramp Command, type the Command Key R. This will set the value for the Acceleration and Deceleration. The number is in the actual units that are being used. For example, with a Unit/Scale of 1, a Ramp of 100000 would be a ramp of 100000 steps per second per second (steps/sec^2). (see units command)
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 command Units/Scale, type the Command Key T. This command is used as a scale factor to allow any units to be programmed. For example, on a Half-Step Driver with a 10 pitch lead screw, it takes 4000 steps to go 1 inch. A scale factor of 1/4000 or .00025 would allow all the parameters to be programmed in inches. UNTIL (5 characters, a space, 5 characters), Line# To select the command Until, type the Command Key U. This command will check the value of the Inputs and loop to the specified line number Until they match what was specified. WAIT (.01 to any number) To select the command Wait, type the Command Key W. This command will pause the program the number of seconds specified, with the accuracy of 10 milliseconds or better. To Wait 4.5 seconds, enter the number 4.5 for the Wait Command.
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 into the board, and out of the board does so in 8 bit words. The CLCI2000 Indexer chip has a set of registers that can be written to through the bus. The description of these registers follows below. REGISTER #BITSSETTING RANGEDESCRIPTION R0240 to 16,777,215INDEX NUMBER R1141 to 16,383BASE SETTING (NOT IN HZ) R2141 to 16,383MAX SETTING (NOT IN HZ) R3151 to 32,767RAMP SETTING R4142 to 16,383FACTOR R5240 to 16,777,215POSITION REGISTER R6240 to 16,777,215ENCODER REGISTER REGISTER DESCRIPTION The least significant byte (lowest) should always be written or read first, followed by the middle byte and then the most significant (highest). For writing operations, the bytes being written will be buffered until the most significant is written. At that time they will all be simultaneously transferred to the working registers. For reading operations, the read of the least significant byte causes the upper bytes to be copied into a holding buffer simultaneously to the least significant read. They can then be read afterwards without concern to their having possibly changed in the time between the successive reads.
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 Address + 19 (H13)A:Register Bits 16-23 (MSB) Base Address + 20 (H14)B:Command Buffer Register Base Address + 21 (H15)B:Register Bits 0-7 (LSB) Base Address + 22 (H16)B:Register Bits 8-15 (Mid) Base Address + 23 (H17)B:Register Bits 16-23 (MSB) Base Address + 24 (H18)C:Command Buffer Register Base Address + 25 (H19)C:Register Bits 0-7 (LSB) Base Address + 26 (H1A)C:Register Bits 8-15 (Mid) Base Address + 27 (H1B)C:Register Bits 16-23 (MSB) Base Address + 28 (H1C)D:Command Buffer Register Base Address + 29 (H1D)D:Register Bits 0-7 (LSB) Base Address + 30 (HIE)D:Register Bits 8-15 (Mid) Base Address + 31 (HIF)D:Register Bits 16-23 (MSB) CLCI2000 BOARD ADDRESSING COMMAND BUFFER REGISTERThe two most significant bits of the Command Buffer Register write determine the Type of command given to the board. The two bits being 00 will handle all the commands involving motion, starting and stopping the pulses. See the Start or Stop Commands Table for further details. The two bits being 01 or 10 will handle Initial Setup Commands for the board. This should be setup as shown in the example. The two bits being 11 will handle the Input and Output Control Commands. This will allow the limit switches to be enables and disabled. See the Input and Output Control Commands Table for more details.
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 immediately to the Base Speed rate and stops. * 00X01X01Changes immediately to the Max Speed rate and stops. * 00X01X10Ramps up or down to the Base Speed rate and stops. * ** 00X01X11Ramps up or down to the Max Speed rate and stops. * ** 00X10X00Starts at Base Speed operation or if already running changes to Base Speed operation. 00X10X01Starts at Max Speed operation or if already running changes to Max Speed operation. 00X10X10Starts at Base Speed (constant speed start) or if already running ramps up or down to Base Speed operation. 00X10X11Starts at Base speed and ramps to Max speed operation or if already running ramps up or down to Max Speed operation. 00X11X00Outputs a single pulse at Base Speed and Stops. 00X11X01Outputs a single pulse at Max Speed and Stops. 00X11X10If running, ramps up or down to Base speed and then stops. ** 00X11X11If running, ramps up or down to Max speed and then stops. ** START OR STOP COMMANDS *If send during operations, otherwise no function **For these commands, the pulse output cannot be stopped until the target pulse rate has been acheived or until a limit input has been reached.
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 the LSB1 send to the MID144 send to the MSB0 Another set up that should be sent to the board initially and after any Origin Index with the encoder Z channel. send to the Command Buffer Register:65 INPUT AND OUTPUT CONTROL COMMANDSThis set of commands primarily affects the enabling and disabling of the limit switches. To enable a limit switch, select a 1 for that Data Bit. To disable a limit switch, select a 0 for that Data Bit. Enabling and Disabling the Limit Switches does not affect the reading of those switches. DATA BITFUNCTION OF THE BITIF IT IS A 0IF IT IS A 1 0Must be a 0AlwaysNot Allowed 1±SOFT Signal Input EnableNot EnabledEnabled 2EZ Signal Input EnableNot EnabledEnabled 3HOME Signal Input EnableNot EnabledEnabled 4No FunctionNo FunctionNo Function 5Must be a 1Not AllowedAlways 6Must be a 1Not AllowedAlways 7Must be a 1Not AllowedAlways INPUT AND OUTPUT CONTROL COMMANDS LIST OF EQUATIONS
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 for the given Base Speed and Max Speed. The relationship between the factor and both the Base and Max Settings is shown in equation 1 and 2. BASE SPEED = 300 * BASE SETTING / FACTOR(EQ. 1) MAX SPEED = 300 * MAX SETTING / FACTOR(EQ. 2) To calculate the time it takes to ramp up or ramp down, equation 3 can be used. TUP = 2 * RAMP SETTING * (MAX SETTING -BASE SETTING) / 9,830,400 (EQ. 3) To calculate real acceleration values (in steps/second*second) equation 4 can be used The acceleration profile is linear. ACCELERATION = (MAX SPEED - BASE SPEED) / TUP(EQ. 4)