Anaheim Stepper PCL601 Users Guide

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Output on the fly: This special function enables output 1 to turn on during a relative index or absolute
move. There are three critical portions of information needed to make this function work correctly. First,
output 1 will turn on (0VDC) for a preset delay of 50uS at a specific absolute position set by the 1st
output position command. Second, the output can then repeat this after a preset amount of steps set by
the number of steps between outputs command, and third a predetermined amount of times to set the
output is required by the number of outputs command which determines the preset amount of times to
trigger the output. So if you start at position 0 and want to move to an absolute position of 10,000, you
can set output 1 to turn on at position 2000, and every 1000 steps after that 5 times. So at position
2000, 3000, 4000, 5000, and 6000 output 1 will turn on for 50uS. To only have the output turn on at one
position set both the “number of steps between outputs” and the “number of outputs” commands to 0.
This function must be enabled, and will only work during a relative index or absolute position move. The
output will trigger while going in either direction. If you do not want the output to trigger in the negative
direction, the function must be turned off before the index move is started.
Index on the Fly: This special function uses Input 2 when a motor is slewing to move a predetermined
amount of steps, set with the registration index command, before stopping. This function must be
enabled, and will only work during a slew move. The registration index must be set before movement
begins. (Range: 1 to 8388607)
End of Program: The end of program command, used within a stored program, stops execution of the
program. This command must be used at the end of all programs.
Wait: In stored program mode, the wait command pauses the program for the specified number of
milliseconds. (Range: 1 to 65535)
If/Then Statements: The if/then statements are conditional based on the values preset in the program.
The user can either test each individual input or all inputs at once. If the input or input register matches
the given value or values, then the program will execute the next line. If the input or input register does
not match the given value, the program will skip the next line and execute the following line. An open
input is read as a 1, and a grounded input is read as a 0.
Branching or Goto Statements: The goto instruction will have the program jump to the given label. If
no label is in the program, it will error when trying to send.
Return from Subroutine: This function can be placed anywhere in the program as long as a goto
statement has been already executed. The program will jump back to the last goto statement encoun-
tered and execute the next line in the program.
Inner and Outer Loop: The loop instructions allow the user to loop a program a variable number of
times. The program will loop to the designated label location of the program. However , the label must
always be at a lower line number than the loop instruction itself. You can only nest inner loops inside an
outer loop. You may not nest an inner loop inside an inner loop, or an outer loop inside an outer loop.
Multiple nested inner loops are allowed in one outer loop.
Finish Move: When writing a program, the finish move command is used directly after every motion
command. When using this command, the PCL601 internally generates a busy signal and will wait until
the move is complete before executing any further commands. Unless the finish move command is
used, the PCL601 will continue to execute the program. If it encounters a command that cannot be
used when the motor is moving, the PCL601 will error and stop the program prematurely.
Repeat Last Move: This command will move the motor the number of steps given in the last indexing
move. This command will not work correctly if the encoder autocorrect function is enabled. 
						

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Encoder Commands: The PCL601 controller is capable of using a quadrature incremental encoder
with A and B channels.
Encoder Auto Correct: This command will enable or disable the encoder feature of the PCL601.
When enabled, the encoder function will compare the desired position with the actual encoder position.
If it is not in the correct position a correction move will be made.
Encoder Delay: This sets the wait time, which is a specified number of milliseconds after a relative
index or absolute move is finished, prior to reading the encoder. This is used to remove the ringing that
might be associated with the mechanics of the system.  (Range: 0 to 65535)
Encoder Motor Ratio: This represents the ratio for the number of encoder pulses to one motor step.
This ratio must be a whole number. For example, given a 1000 line quadrature encoder and a 400 step/
revolution motor, the motor ratio is (1000 * 4) / 400 = 10 (Range: 1 to 255 and must be a whole num-
ber)
Encoder Retries: This is the number of times the PCL601 will try to autocorrect the motor shaft posi-
tion before producing an error. When the error is produced, Output 8 is triggered. (Range: 0 to 255)
Encoder Window: This is the allowable error in encoder pulses (either plus or minus) from the desired
position that is allowed before the motor autocorrects. (Range: 0 to 255)
Thumbwheel Index: This special function allows a thumbwheel with up to 7 decades to be used with
the PCL601 to set a relative index. To use the thumbwheel, SW2 must be in the TWS position or the
thumbwheel will be disabled.
Acceleration/Deceleration: The acceleration and deceleration are the same value. The acceleration is
entered directly as steps/sec
2 and controls the time that the motor will take to move from base speed to
max speed, and from max speed to base speed. The higher the value, the faster the motor will acceler-
ate. The same principal applies for the deceleration which is controlling the time it takes to go from the
max speed to base speed. (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops. It is entered directly as
the number  of steps per second. This speed must always be less than the max speed  and jog speed.
(Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the motor to run. This speed must always
be greater than the base speed. It is entered directly as the number of steps per second.
(Range: 1 to 50000)
Jog Speed: The jog speed sets the fast jog rate. Jog (+/-) is used to run at base speed. The FJOG pin,
when grounded, will ramp the motor to the set jog speed. This speed must always be greater than the
base speed. It is entered directly as the number of steps per second. (Range: 1 to 50000)
Motor Current: This command will control the on/off output which is designed to connect to the on/off
input of Anaheim Automation’s step motor drivers. To energize and allow current to flow through the
coil of the motor, set the value to on. To de-energize and turn the current off to the motor, set the value
to off. This is a dedicated output and not controlled with the output register.
Verify: The verify command causes the PCL601 controller to send data back to the PC or PLC. The
data is sent as an ASCII decimal string followed by a carriage return and a line feed. The verify com-
mands are shown in the table on page 34. 
						

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Section 3: SMC60WIN Software
The SMC60WIN software is a handy utility that supports Anaheim Automation’s line of PCL601’s step
motor controllers. Connecting your PC to the PCL601, via a serial cable, the SMC60WIN software can
easily perform the following tasks:
• Exercise and monitor the PCL601 controller
• Write and edit stored programs for standalone operation
• Directly communicate with the PCL601 controller
Installation
Software
• The SMC60WIN is supplied on a CD, containing  the setup program and the SMC60WIN
   software, PCL601 manual and sample programs.
• SMC60WIN is compatible with all versions of Windows including Windows 2000 and
   Windows XP.
Windows 95/98/NT/ME/2000/XP Installation
    Option 1
1) Insert the CD into the drive
2) On the Windows Taskbar select Start | 
Run
3) Enter 
D:\setup and click OK - use the appropriate drive letter (i.e. D or E)
    Option 2
1) Open Windows Explorer
2) Open CD Drive Folder (D: or E:)
3) Double click the Setup Icon
Getting Started
1) Double click on the SMC60WIN icon to run the SMC60WIN software.
2) Apply power to the PCL601 controller.
3) Set the appropriate com port setting by selecting 
Setup | Com Port Settings from the menu bar.
    (Ctrl+M is a shortcut)
4) Set the appropriate axis setting by selecting 
Setup | Axis from the menu bar.
    (Ctrl+A is a shortcut)
5) Establish communications with the PCL601 by clicking on the Connect Icon, or select
     
Setup | Connect from the menu bar. If the unit is connected properly, the program will notify you
    when communications has been established. (Ctrl+C is a shortcut) 
						

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Nma r g o r P w e.m a r g o r p w e n a g n i t i d e t r a t S
Oma r g o r P n e p.k s i d m o r f m a r g o r p g n i t s i x e n a n e p O
SsA m a r g o r P e v a.k s i d o t m a r g o r p t n e r r u c e h t e v a S
P.. . t n i r.m a r g o r p t n e r r u c e h t t n i r P
Ex ti.e r a w t f o s N I W 0 6 C M S e h t t i x E
File Menu
Setup Menu
Ctc e n n o.r e l l o r t n o c e h t h t i w s n o i t a c i n u m m o c h s i l b a t s E
Dtc e n n o c s i.e s u o t s e c i v e d r e h t o r o f t r o p M O C e h t e s a e l e R
m o CP sg n i t t e S t r o.t r o p M O C t c e l e S
Asi x.r e l l o r t n o c e h t f o s i x a d e r o t s d n a n o i t c e l e s s i x a t e S
Setup - Axis Menu
Ssi x A t c e l e) 9 9 - 1 ( . e r a w t f o s N I W 0 6 C M S e h t n i r e t e m a r a p t c e l e s s i x a e h t s t e S
Dsi x A e n i f e) 9 9 - 1 ( . r e l l o r t n o c e h t n i s s e r d d a e l b a m m a r g o r p e h t s t e S 
						

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Sma r g o r P t r a t. y r o m e m r e l l o r t n o c e h t n i m a r g o r p e h t f o n o i t u c e x e e h t t r a t S
St ma r g o r P p o. y r o m e m r e l l o r t n o c e h t n i m a r g o r p e h t f o n o i t u c e x e e h t p o t S
Vma r g o r P w e i.y r o m e m r e l l o r t n o c e h t n i d e r o t s m a r g o r p e h t w e i V
Cyr o m e M m a r g o r P r a e l.r e l l o r t n o c e h t n i y r o m e m m a r g o r p e h t r a e l C
Ama r g o r P t r a t s o t u.f f o r o n o n o i t c n u f t r a t s o t u a e h t n r u T
Program Menu
Del b a s i. p u r e w o p t a m a r g o r p d e r o t s a f o n o i t u c e x e e h t e l b a s i d l l i w m a r g o r P
Eel b a n. p u d e r e w o p s i r e l l o r t n o c n e h w n o i t u c e x e t r a t s l l i w m a r g o r P
Program - Autostart Program Menu
Add.m a g o r p e h t f o d n e e h t o t e d o c f o e n i l w e n a s d d A
Ceg n a h.e d o c f o e n i l d e t c e l e s y l t n e r r u c e h t s t i d E
Itr e s n. e d o c f o e n i l d e t c e l e s y l t n e r r u c e h t e r o f e b e d o c f o e n i l w e n a t r e s n I
Det e l e.e d o c f o e n i l d e t c e l e s y l t n e r r u c e h t s e t e l e D
Edit Menu 
						

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“The Unit is Connected” / “The Unit is NOT Connected”
On the right of the Toolbar, the user will find the communication status of the PCL601 controller. If
communications are not established, please refer to the Troubleshooting Section.
Help Menu
Ere d a e R r e d o C r o r r. r e l l o r t n o c 1 0 6 L C P e h t y b d e t a r e n e g e d o c r o r r e e h t d a e r o t y t i l i t U
Ped i u G s  r e s U 1 0 6 L C.t a m r o f f d p . n i e d i u G s  r e s U e h t p u s n e p O
wmo c . n o i t a m o t u a m i e h a n a . w w.e t i s b e W n o i t a m o t u A m i e h a n A e h t p u s n e p O
Atu o b. n o i t a m r o f n i t c a t n o c d n a N I W 0 6 C M S e h t f o n o i s r e v e h t s y a l p s i D 
						

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Toolbar
    Exit          New        Open       Save        Print   Calculator Stop All   Connect
t i x E.e r a w t f o s N I W 0 6 C M S e h t t i x E
w e N.m a r g o r p w e n a g n i t i d e t r a t S
n e p O.y r o t c e r i d r o k s i d m o r f m a r g o r p g n i t s i x e n a n e p O
e v a S.y r o t c e r i d r o k s i d o t m a r g o r p t n e r r u c e h t e v a S
t n i r P.m a r g o r p t n e r r u c e h t t n i r P
r o t a l u c l a C.r o t a l u c l a c p o t k s e d e h t n e p O
l l A p o t S.g n i n n u r m o r f n o i t o m l l a d n a m a r g o r p e h t p o t S
t c e n n o C.r e l l o r t n o c e h t h t i w n o i t a c i n u m m o c h s i l b a t s E
Tab Sheets
n o i t o M e m i T l a e R.r e l l o r t n o c e h t f o n o i t o m l o r t n o c d n a r o t i n o M
d n a s n o i t p O r e d o c n E
s t u p n I n o i t a r t s i g e R. y l f e h t n o t u p t u o d n a y l f e h t n o t u p n i , s n o i t p o r e d o c n e r o f s g n i t t e s e g n a h c d n ar o t i n o M
l e e h w b m u h T d n a t u p n I g o l a n A
s n o i t p O. s e h c t i w s l e e h w b m u h t e h t d n a s t u p n I g o l a n A o t s g n i t t e s e g n a h c d n a r o t i n o M
s m a r g o r P t i d E d n a e t a e r C.s m a r g o r p d e r o t s 1 0 6 L C P t i d e d n a e t i r W 
						

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l e c e D / l e c c A t e Sc e s / p e t s ( . r e l l o r t n o c o t r e t e m a r a p n o i t a r e l e c e d & n o i t a r e l e c c a d n e S2)
d e e p S e s a B t e S) c e s / p e t s ( . r e l l o r t n o c e h t o t r e t e m a r a p d e e p s e s a b d n e S
d e e p S x a M t e S) c e s / p e t s ( . r e l l o r t n o c e h t o t r e t e m a r a p d e e p s m u m i x a m d n e S
d e e p S g o J t e S) c e s / p e t s ( . r e l l o r t n o c e h t o t r e t e m a r a p d e e p s g o j t s a f d n e S
n o i t i s o P t e S.n o i t i s o p r o t o m t e S
n o i t c e r i D t e S.e s i w k c o l c - r e t n u o c r o e s i w k c o l c o t n o i t c e r i d t e S
t n e r r u C r o t o M t e S.f f o r o n o r o t o m e h t n i t n e r r u c e h t t e S
g n i s u e m o H
) h c t i w S e m o H (e h t p o t s l l i w h c i h w h c t i w s e m o h s d r a w o t g n i v o m y b n o i t i s o p e m o h e h t k e e s l l i w r o t o M
r e g n o l o n s i hc t i w s t i m i l e m o h e h t n e h w p o t s d n a n o i t c e r i d r o t o m e h t e s r e v e r , r o t o m
) h s a l k c a b - i t n a p o t s o t d e r i u q e r s i h c t i w s e n O ( . d e
r e g g i r t
g n i s u e m o H
) s e h c t i w S e m o H d n a t f o S (w o l s l l i w r o t o m t u b h c t i w s e m o h s d r a w o t g n i v o m y b n o i t i s o p e m o h e h t k e e s l l i w r o t o M
e mo h e h t g n i r e g g i r t y b d e w o l l o f , d e r e g g i r t s i h c t i w s t f o s e h t n e h w d e e p s e s a b o t n w o d
) p o t s o t d e r i u q e r e r a s e h c t i w s o w T ( . n
o i t o m p o t s o t h c t i w s
s p e t s f o r e b m u n e v o M.d e r e t n e s p e t s f o r e b m u n e v o m l l i w r o t o M
n o i t i s o P o t e v o M.n o i t i s o p d e i f i c e p s o t e v o m l l i w r o t o M
w e l S. d e r e g g i r t s i n o i t o m p o t s l i t n u g n i v o m p e e k d n a d e e p s m u m i x a m o t p u p m a r l l i w r o t o M
t f o S p o t S.p o t s d n a d e e p s e s a b o t n w o d r o t o m p m a R
d r a H p o t S.y l e t a i d e m m i n o i t o m r o t o m y n a p o t S
s t u p n I)f f O = k n a l b , n O = d e k c e h c ( . s t u p n i w e i V
s t u p t u Ore g g i r t d n a w e i V)F F O = k n a l b , N O = d e k c e h c ( . s t u p t u o
s r e t e m a r a P y f i r e V. s e d o c r o r r e e h t s t e s e r d n a t e e h s s r e t e m a r a p s r e l l o r t n o c s y a l p s i d d n a s e t a d p U
Tab Sheets - Real Time Motion 
						

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t c e r r o C o t u A r e d o c n E.f f o r o n o e r u t a e f t c e r r o c o t u a r e d o c n e e h t t e S
y a l e D r e d o c n E t e S) s m ( . r e l l o r t n o c e h t o t r e t e m a r a p y a l e d r e d o c n e e h t d n e S
o i t a R r o t o M t e S. r e l l o r t n o c e h t o t o i t a r p e t s r o t o m o t e s l u p r e d o c n e e h t d n e S
s e i r t e R r e d o c n E t e St c e r r o c o t u a e h t n e h W . r e l l o r t n o c e h t o t s e i r t e r t c e r r o c o t u a r e d o c n e f o r e b m u n e h t d n e S
. d e r e g g i r te b l l i w 8 t u p t u O , s r o r r e
w o d n i W r e d o c n E t e S.r e l l o r t n o c e h t o t w o d n i w r e d o c n e e h t d n e S
t e s e R r e d o c n E.r e l l o r t n o c e h t n i 0 o t t n u o c r e d o c n e e h t t e s e R
y l F e h t n o t u p t u O.f f o r o n o e r u t a e f y l f e h t n o t u p t u o e h t t e S
n o i t i s o P t u p t u O t s 1 t e S. r e l l o r t n o c e h t o t t u p t u o e h t t e s o t n o i t i s o p t s 1 e h t d n e S
n e e w t e B s p e t S f o # t e S
s t u p t u O. r e l l o r t n o c e h t o t s t u p t u o d e t a v i t c a n e e w t e b e k a t o t s p e t s f o # d n e S
s t n u o C t u p t u O f o # t e S.r e l l o r t n o c e h t o t s t n u o c t u p t u o f o # d n e S
s p e t S f o # e v o M.d e r e t n e s p e t s f o r e b m u n e v o m l l i w r o t o M
0 o t n o i t i s o P t e s e R.) o r e z ( 0 o t n o i t i s o p r e l l o r t n o c e h t t e s e R
d r a H p o t S.y l e t a i d e m m i n o i t o m r o t o m y n a p o t S
y l F e h t n o x e d n I.f f o r o n o e r u t a e f y l f e h t n o x e d n i e h t t e S
x e d n I n o i t a r t s i g e R t e S.r e l l o r t n o c o t x e d n i n o i t a r t s i g e r d n e S
w e l Ss i t u p n i y l f e h t n o x e d n i e h t l i t n u g n i v o m p e e k d n a d e e p s m u m i x a m o t p u p m a r l l i w r o t o M
. d e r e g g i r t s i n o i t o m p o t s a r o d et a v i t c a
d r a H p o t S.y l e t a i d e m m i n o i t o m r o t o m y n a p o t S
s r e t e m a r a P y f i r e V. t e e h s b a t s i h t r o f s r e t e m a r a p s r e l l o r t n o c s y a l p s i d d n a s e t a d p U
Tab Sheets - Encoder Options and Registration Inputs 
						

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t u p n I d e e p S x a M g o l a n A.f f o r o n o e r u t a e f t u p n i d e e p s g o l a n a e h t s t e S
t i m i L r e w o L d e e p S t e S. r e l l o r t n o c e h t o t t i m i l r e w o l d e e p s g o l a n a e h t d n e S
t i m i L r e p p U d e e p S t e S. r e l l o r t n o c e h t o t t i m i l r e p p u d e e p s g o l a n a e h t d n e S
d e e p S g o l a n A t e S. t u p n i t a d e r u s a e m e g a t l o v g o l a n a n o d e s a b d e e p s x a m e h t s t e S
t u p n I d e e p S n o i t i s o P g o l a n A. f f o r o n o e r u t a e f t u p n i n o i t i s o p g o l a n a e h t s t e S
t i m i L r e w o L n o i t i s o P t e S. r e l l o r t n o c e h t o t t i m i l r e w o l n o i t i s o p g o l a n a e h t d n e S
t i m i L r e p p U n o i t i s o P t e S. r e l l o r t n o c e h t o t t i m i l r e p p u n o i t i s o p g o l a n a e h t d n e S
n o i t i s o P g o l a n A t e S. t u p n i t a d e r u s a e m e g a t l o v g o l a n a n o d e s a b n o i t i s o p o t e v o m l l i w r o t o M
d r a H p o t S.y l e t a i d e m m i n o i t o m r o t o m y n a p o t S
x e d n I l e e h w b m u h T.f f o r o n o e r u t a e f x e d n i l e e h w b m u h t e h t s t e S
x e d n i l e e h w b m u h T e v o M. s e h c t i w s l e e h w b m u h t e h t y b t e s s p e t s f o r e b m u n e v o m l l i w r o t o M
d r a H p o t S.y l e t a i d e m m i n o i t o m r o t o m y n a p o t S
s r e t e m a r a P y f i r e V. t e e h s b a t s i h t r o f s r e t e m a r a p s r e l l o r t n o c s y a l p s i d d n a s e t a d p U
Tab Sheets - Analog Input and Thumbwheel Options