Anaheim Stepper PCL601 Users Guide
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#L010153September 2005
G - Go number of steps
Format: G
Description: This command is used to send a set number of clocks out of the PCL601 control-
ler. An N or P command must be entered before the G command. The ramp
profile is specified by the B (base speed), M (max speed), and A (acceleration/
deceleration) commands.
H - Home
Format: H[0 or 1]
Description:
Home Types: H0: In type 0 homing, the PCL601 will send clocks until a soft limit is reached,
then ramp down to base speed. Clocks will continue...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-30.png "Page 31
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#L010153September 2005
G - Go number of steps
Format: G
Description: This command is used to send a set number of clocks out of the PCL601 control-
ler. An N or P command must be entered before the G command. The ramp
profile is specified by the B (base speed), M (max speed), and A (acceleration/
deceleration) commands.
H - Home
Format: H[0 or 1]
Description:
Home Types: H0: In type 0 homing, the PCL601 will send clocks until a soft limit is reached,
then ramp down to base speed. Clocks will continue...")
31 #L010153September 2005 G - Go number of steps Format: G Description: This command is used to send a set number of clocks out of the PCL601 control- ler. An N or P command must be entered before the G command. The ramp profile is specified by the B (base speed), M (max speed), and A (acceleration/ deceleration) commands. H - Home Format: H[0 or 1] Description: Home Types: H0: In type 0 homing, the PCL601 will send clocks until a soft limit is reached, then ramp down to base speed. Clocks will continue...
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#L010153September 2005
M - Max speed and analog speed
Format 1: M[value]
Description: This command sets the maximum (running) speed for motion. This value must be
set before motion begins, and be greater than the base speed.
Range: 1 - 50000
Format 2: M
Description: This command uses the voltage on input 1 to calculate and set the max speed. The
analog speed must be enabled for this command to work. This command is used
in conjunction with the analog speed “;”, the analog speed lower limit “[“, and...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-31.png "Page 32
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#L010153September 2005
M - Max speed and analog speed
Format 1: M[value]
Description: This command sets the maximum (running) speed for motion. This value must be
set before motion begins, and be greater than the base speed.
Range: 1 - 50000
Format 2: M
Description: This command uses the voltage on input 1 to calculate and set the max speed. The
analog speed must be enabled for this command to work. This command is used
in conjunction with the analog speed “;”, the analog speed lower limit “[“, and...")
32 #L010153September 2005 M - Max speed and analog speed Format 1: M[value] Description: This command sets the maximum (running) speed for motion. This value must be set before motion begins, and be greater than the base speed. Range: 1 - 50000 Format 2: M Description: This command uses the voltage on input 1 to calculate and set the max speed. The analog speed must be enabled for this command to work. This command is used in conjunction with the analog speed “;”, the analog speed lower limit “[“, and...
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#L010153September 2005
P - Absolute position and analog position
Format 1: P[value]
Description: This command calculates and sets the number of clocks for the PCL601 to send
out following a G command. Motion is not activated by this command; it only sets
the register. (N = P - Z)
Range: -8388607 to +8388607
Format 2: P
Description: This command uses the voltage on input 1 to calculate and set the number of
clocks for the PCL601 to send out following a G command. The analog position
must be enabled...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-32.png "Page 33
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#L010153September 2005
P - Absolute position and analog position
Format 1: P[value]
Description: This command calculates and sets the number of clocks for the PCL601 to send
out following a G command. Motion is not activated by this command; it only sets
the register. (N = P - Z)
Range: -8388607 to +8388607
Format 2: P
Description: This command uses the voltage on input 1 to calculate and set the number of
clocks for the PCL601 to send out following a G command. The analog position
must be enabled...")
33 #L010153September 2005 P - Absolute position and analog position Format 1: P[value] Description: This command calculates and sets the number of clocks for the PCL601 to send out following a G command. Motion is not activated by this command; it only sets the register. (N = P - Z) Range: -8388607 to +8388607 Format 2: P Description: This command uses the voltage on input 1 to calculate and set the number of clocks for the PCL601 to send out following a G command. The analog position must be enabled...
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#L010153September 2005
Z - Position
Format: Z[value]
Description: This command sets the current position as a reference. This register can contain
a positive or negative value but, cannot be changed while motion is in progress.
Range: -8388607 to +8388607
! - Error codes register
Format : !
Description: This command requests the PCL601 controller to get the current error code and
print it to the screen. For a description of the error codes see page 39.
$ - Version number register
Format : $...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-33.png "Page 34
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#L010153September 2005
Z - Position
Format: Z[value]
Description: This command sets the current position as a reference. This register can contain
a positive or negative value but, cannot be changed while motion is in progress.
Range: -8388607 to +8388607
! - Error codes register
Format : !
Description: This command requests the PCL601 controller to get the current error code and
print it to the screen. For a description of the error codes see page 39.
$ - Version number register
Format : $...")
34 #L010153September 2005 Z - Position Format: Z[value] Description: This command sets the current position as a reference. This register can contain a positive or negative value but, cannot be changed while motion is in progress. Range: -8388607 to +8388607 ! - Error codes register Format : ! Description: This command requests the PCL601 controller to get the current error code and print it to the screen. For a description of the error codes see page 39. $ - Version number register Format : $...
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#L010153September 2005
% - Verify address register
Format : % (No address is needed before this function. @% will return the address)
Description: This command requests the PCL601 controller to return its internal address num-
ber to the PC or PLC.
‘ - Index on the fly enabled
Format: ‘[0 or 1]
Description: This command will either enable or disable the index on the fly function. To
enable the function, use a 1. To disable the function use a 0. This command is used
in conjunction with the number of...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-34.png "Page 35
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#L010153September 2005
% - Verify address register
Format : % (No address is needed before this function. @% will return the address)
Description: This command requests the PCL601 controller to return its internal address num-
ber to the PC or PLC.
‘ - Index on the fly enabled
Format: ‘[0 or 1]
Description: This command will either enable or disable the index on the fly function. To
enable the function, use a 1. To disable the function use a 0. This command is used
in conjunction with the number of...")
35 #L010153September 2005 % - Verify address register Format : % (No address is needed before this function. @% will return the address) Description: This command requests the PCL601 controller to return its internal address num- ber to the PC or PLC. ‘ - Index on the fly enabled Format: ‘[0 or 1] Description: This command will either enable or disable the index on the fly function. To enable the function, use a 1. To disable the function use a 0. This command is used in conjunction with the number of...
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#L010153September 2005
/ - Thumbwheel index enabled
Format: /[0 or 1]
Description: This command will either enable or disable the ability to use the thumbwheel
switches for indexing. If enable, SW2 must be in the TWS position for the
thumbwheel to be connected to the processor.
: - Analog position enabled
Format: :[0 or 1]
Description: This command will either enable or disable input 1 to be used to set the analog
position. To enable the function, use a 1. To disable the function use a 0. This...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-35.png "Page 36
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#L010153September 2005
/ - Thumbwheel index enabled
Format: /[0 or 1]
Description: This command will either enable or disable the ability to use the thumbwheel
switches for indexing. If enable, SW2 must be in the TWS position for the
thumbwheel to be connected to the processor.
: - Analog position enabled
Format: :[0 or 1]
Description: This command will either enable or disable input 1 to be used to set the analog
position. To enable the function, use a 1. To disable the function use a 0. This...")
36 #L010153September 2005 / - Thumbwheel index enabled Format: /[0 or 1] Description: This command will either enable or disable the ability to use the thumbwheel switches for indexing. If enable, SW2 must be in the TWS position for the thumbwheel to be connected to the processor. : - Analog position enabled Format: :[0 or 1] Description: This command will either enable or disable input 1 to be used to set the analog position. To enable the function, use a 1. To disable the function use a 0. This...
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#L010153September 2005
^ - Number of outputs during output on the fly
Format: ^[value]
Description: This command sets the number of times output 1 will turn on during an output on
the fly move. This command is used in conjunction with the output on the fly en-
abled “(“ command.
Range: 0 - 255
{ - Analog position lower limit
Format: {[value]
Description: This command sets the lower limit that is used during the calculation following a P
command for the analog position input. This command is used in...](http://img.usermanuals.tech/thumb/413/6107/w300_stepper-pcl601-users-guide-1478885941_d-36.png "Page 37
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#L010153September 2005
^ - Number of outputs during output on the fly
Format: ^[value]
Description: This command sets the number of times output 1 will turn on during an output on
the fly move. This command is used in conjunction with the output on the fly en-
abled “(“ command.
Range: 0 - 255
{ - Analog position lower limit
Format: {[value]
Description: This command sets the lower limit that is used during the calculation following a P
command for the analog position input. This command is used in...")
37
#L010153September 2005
^ - Number of outputs during output on the fly
Format: ^[value]
Description: This command sets the number of times output 1 will turn on during an output on
the fly move. This command is used in conjunction with the output on the fly en-
abled “(“ command.
Range: 0 - 255
{ - Analog position lower limit
Format: {[value]
Description: This command sets the lower limit that is used during the calculation following a P
command for the analog position input. This command is used in...
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38 #L010153September 2005 Section 5: Troubleshooting Problem: Cannot establish communications with the PCL601. Possible Solutions: 1) Make sure the PCL601 controller has power. Is the Green LED on? 2) Check the RS232/RS485 connections. 3) Check for loose cable connections either on the PCL601 controller or COM Port. 4) Was the software installed successfully? 5) Go to Setup | Com Port Settings and verify COM port and baud rate settings. 6) Go to Setup | Axis and verify address settings are the same. 7)...
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Problem:
The PCL601 controller has a fault condition.
Possible Solutions:
1) Verify your program for improper syntax that may cause an error code.
2) Physically press the reset button on the PCL601 to clear an error.
3) Another way to clear an error is by using either the SMC60WIN software or the direct mode
command instructions set.
4) The SMC60WIN can clear an error in the real time motion tab section by clicking on the verify
parameters button.
5) The direct mode...
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40 #L010153September 2005 Section 6: Tutorial Sample Program 1: Sample Program 1 illustrates a typical application where a system moves to a specific position required. The sample program shows how to use the motion and goto instruction commands. 0 4000 8000 Start Initilize Values Move 4000 Steps Repeat Last Move Move to Position 0 then wait 500mSec Quit