Anaheim Stepper PCL601 Users Guide

1
#L010153September 2005
PCL601
Programmable Step Motor Controller
User’s Guide
910 East Orangefair Lane, Anaheim, CA 92801
e-mail: [email protected](714) 992-6990  fax: (714) 992-0471
website: www.anaheimautomation.com
ANAHEIM AUTOMATION, INC. 

2
#L010153September 2005
Table of Contents
Section 1: Introduction .......................................................................................................................... 3
Description ............................................................................................................................................... 3
Methods of Communication ..................................................................................................................... 4
Baud Rate...

3
#L010153September 2005
Section 1: Introduction
The PCL601 is a single-axis step motor controller containing 2 Kbytes of nonvolatile stored programming
space and quadrature encoder feedback. The user can write the program and then have the PCL601
autostart the program on power up. It provides flexible, independent control of stepper motors from com-
puters, or any machine controller with a serial port. It is also capable of standalone operation, making it an
embedded machine controller. The easy to use...

4
#L010153September 2005
Methods of Communication
There are two methods for sending commands to the PCL601. One is to directly talk to the PCL601 by
using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller),
where the computer or PLC gives the PCL601 serial commands to off-load its processor. For example: A
PLC can utilize its outputs to toggle the PCL601’s inputs and gain control of variable speeds, variable
programs, variable distances, etc. Simply using the...

5
#L010153September 2005
Terminating Resistor
To eliminate noise on the transmission lines or  when using a 4000 ft. or longer cable, a terminating
resistor is suggested. If used, the termination resistor need only be added to the last (furthest from the
converter box) PCL601 in the network between pins A(-) and B(+) on the RS485 Terminal Block. The
value of this resistor should be 120 ohms.
Axis Selection
Each PCL601 is addressed using a programmable register allowing the PC to address up to 99...

6
#L010153September 2005
Electrical Specifications
Power Requirements With No Connections:
5VDC @ 100mA or
8VDC to 24VDC @ 90mA
Operating Temperature:
0 to 60 degrees C
Pulse Output Range:
1 to 50,000 Hz
10uS negative going pulse width
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog input 1: 0 to 5VDCOutputs (CLK,DIR,ON/OFF):
Open Drain Type
40VDC, 75mA
Baud Rate:
38400 Baud, Fixed
Data Format:
Half-Duplex, 1 start bit, 8 data bits,
no parity, 1 stop bit
Outputs (8...

7
#L010153September 2005
Dimensions/Switch Locations
Wiring Diagrams 

8
#L010153September 2005
Slide Switch Descriptions
r e b m u N h c t i w Sn o i t p i r c s e D
1 W S.5 8 4 S R r o 2 3 2 S R r e h t i e t c e l e s o t d e s u s i h c t i w s s i h T
2 W S. 6 d n a 5 s t u p n i r o l e e h w b m u h t e h t r e h t i e t c e l e s o t d e s u s i h c t i w s s i h T
Connector Descriptions
r e b m u N h c t i w Sn o i t p i r c s e D
1 P. 2 3 2 - S R d e l e b a l s i d n a n o i t a c i n u m m o c 2 3 2 - S R e h t r o f s i r o t c e n n o c s i h T
1 J. S W T d e...

9
#L010153September 2005
Section 2: Functions
Move Number of Steps: This  command causes the motion to start in the direction last specified. This
command will move the motor the number of steps given. (Range: 1 to 8388607)
Move to Position: The move to position command specifies the next absolute position to go to. The
PCL601 controller automatically sets the direction and number of steps needed to go to that position.
(Range: -8388607 to +8388607)
Slew: The slew command will accelerate the motor up to...

10
#L010153September 2005
Jog Inputs: The jog switch inputs are internally pulled up by a resistor making them normally +5 volts.
To activate the input, the pin must be grounded to (0VDC). All jog switch inputs are internally clamped
to +5V, thus allowing voltages of upto +24VDC to be used. Jog is a manual function. The user can
select the direction and speed (fast or slow) by grounding the appropriate combinations of inputs. To
jog a motor, it is necessary to ground the jog input  for the direction...