Anaheim Stepper PCL601 Users Guide

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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 at base speed until a
home limit is reached. The ramp profile is specified by the B (base speed),
M (max speed), and A (acceleration/deceleration) commands.
H1: In type 1 homing, the PCL601 will send clocks until a home limit is reached,
ramp down to base speed, change directions and run at base speed unit
the release of the home limit input. The ramp profile is specified by the B
(base speed), M (max speed), and A (acceleration/deceleration) commands.
I - Read inputs
Format 1: IR
Description: This command returns the binary value of the inputs to the PC. Since the inputs
are pulled up internally (except input 1), they will return a high when they are
open. For example; if all inputs are active (grounded), the command will return a
0. If all  inputs are inactive (open), the command will return a 63. Input 1 is the
LSB and input 6 is the MSB.
Format 2: I[input]
Description: This command returns the value of the selected input to the PC. If the input is
open or high it will return a 1. If the input is grounded or low it will return a 0.
Ranged: 0 - 6
J -  Fast jog  speed
Format: J[value]
Description: This command sets the fast jog speed. This value must be set before motion
begins and be greater than the base speed.
Range: 1 - 50000 
						

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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 the
analog speed  lower limit “]” commands. This value must be set before motion
begins.
N - Number of steps
Format 1: N[value]
Description: This command sets the number of clocks for the PCL601 to send out following a G
command. It is also used to set the registration index during and index on the fly
move. Motion is not activated by this command; it only sets the index register.
Range: 0 - 8388607
Format 2: N
Description: This command reads the thumbwheel switches to set the number of clocks for the
PCL601 to send out following a G command. For  this command to work SW2 must
be in the TWS position, and the thumbwheel enable bit must be enabled. Motion is
not activated by this command, it only sets the index register. This command is
used in conjunction with the thumbwheel enabled “/” command.
O - Set outputs
Format 1: OR[value]
Description: This command sets the output register according to the binary value entered.
Output 1 is the LSB and output 8 is the MSB.
Range: 0 - 255
Format 2: O[output]=[0 or 1]
Description: This command sets the selected output either on or off. A 1 will turn the output
on (0VDC) and a 0 will turn the output off (open).
Range: 0 - 8 
						

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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 for this command to work. Motion is not activated by this com-
mand, it only sets the register (N = P - Z). This command is used in conjunction with
the analog position“:”, the analog position lower limit “{“, and the analog position
lower limit “}” commands.
S - Go slew
Format : S
Description: This command will send clocks out to the PCL601. The only commands that can
stop the clocks are; “.” (stop motion) or “,” (soft limit). Motion can also be stopped
by using the limit switch inputs. The ramp profile is specified by the B (base
speed), M (max speed), and A (acceleration/deceleration) commands.
T - Motor current enabled
Format: T[0 or 1]
Description: 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 1. To de-energize
and turn the current off to the motor, set the value to 0. This is a dedicated
output, and not controlled with the output register. 
						

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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 : $
Description: This command requests the PCL601 controller to return its internal firmware ver-
sion number. V - Verify
Format: V[command]
Description: This command can be used with most commands to verify the register contents.
This is a read only command. Valid Commands are shown below.
d n a m m o Cn o i t p i r c s e Dd n a m m o Cn o i t p i r c s e D
Ano i t a r e l e c e d / n o i t a r e l e c c a y f i r e VOst u p t u o y f i r e V
Bde e p s e s a b y f i r e VT)f f o s i 0 , n o s i 1 ( t n e r r u c r o t o m y f i r e V
Cyl f e h t n o s t u p t u o n e e w t e b s p e t s y f i r e VZno i t i s o p y f i r e V
Dno i t i s o p y l f e h t n o t u p t u o t s 1 y f i r e V** d e l b a n e y l f e h t n o x e d n i y f i r e V
A E** d e l b a n e t c e r r o c o t u a r e d o c n e y f i r e V(** d e l b a n e y l f e h t n o t u p t u o y f i r e V
D Eya l e d r e d o c n e y f i r e V+no i t c e r i D y f i r e V
M Eoi t a r r o t o m r e d o c n e y f i r e V/** d e l b a n e x e d n i l e e h w b m u h t y f i r e V
P Eno i t i s o p r e d o c n e y f i r e V:** d e l b a n e n o i t i s o p g o l a n a y f i r e V
R Ese i r t e r r e d o c n e y f i r e V;** d e l b a n e d e e p s g o l a n a y f i r e V
W Ewo d n i w r e d o c n e y f i r e V[eu l a v d e e p s g o l a n a r e w o l y f i r e V
Fys u b s i r e l l o r t n o c f i y f i r e V]eu l a v d e e p s g o l a n a r e p p u y f i r e V
Jde e p s g o j y f i r e V^st u p t u o f o r e b m u n y f i r e V
L)1 t i B - t f o S , 0 t i B - d r a H ( s t i m i L y f i r e V{eu l a v n o i t i s o p g o l a n a r e w o l y f i r e V
Mde e p s x a m y f i r e V}eu l a v n o i t i s o p g o l a n a r e p p u y f i r e V
Nsp e t s f o r e b m u n y f i r e Vd e l b a s i d s i 0 , d e l b a n e s i 1 * * 
						

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% - 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 steps “N” and go slew “S” commands.
( - Output on the fly  enabled
Format: ([0 or 1]
Description: This command will either enable or disable the output 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 steps between outputs “C”, 1st output position
“D”, and number of outputs “^” commands.
+ -  Clockwise
Format: +
Description: This command sets the direction output to clockwise.
, - Soft Limit Input Bit
Format: ,
Description: This command will ramp the clocks down to base speed. The move type then
determines what will happen. In a relative or absolute type motion the PCL601
controller will continue to the set position and stop. In a slew type motion the PCL601
controller will ramp down and stop. In a home type motion the PCL601 controller
will ramp down and run at base speed, until the home limit is activated.
- - Counter-Clockwise
Format: -
Description: This command sets the direction output to counterclockwise.
. - Stop Motion
Format: .
Description: This command will stop all motion. It can also be used to stop the current program
that is running. 
						

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/ - 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
command is used in conjunction with the analog position lower limit “{“ and analog
position upper limit “}” commands.
; - Analog speed  enabled
Format: ;[0 or 1]
Description: This command will either enable or disable input 1 to be used to set the analog
speed. To enable the function, use a 1. To disable the function use a 0. This command
is used in conjunction with the analog speed lower limit “[“ and analog speed upper
limit “]” commands.
[ - Analog speed  lower limit
Format: [[value]
Description: This command sets the lower limit that is used during the calculation following an M
command for the analog speed input. This command is used in conjunction with
the analog speed enabled “;” and max speed “M” commands.
Range: 1 - 50000
] - Analog speed  upper limit
Format: ][value]
Description: This command sets the upper limit that is used during the calculation following an
M command for the analog speed input. This command is used in conjunction with
the analog speed enabled “;” and max speed “M” commands.
Range: 1 - 50000 
						

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^ - 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 conjunction with
the analog position enable “:” and absolute position “P” commands.
Range: 0 - 65535
} - Analog position upper limit
Format: }[value]
Description: This command sets the upper limit that is used during the calculation following a P
command for the analog position input. This command is used in conjunction with
the analog position enable “:” and absolute position “P” commands.
Range: 0 - 65535
~ - Set address  register
Format : ~[value] (No address is needed before this function. @~[value] will set the
address)
Description: This command sets the address for communication inside the PCL601 controller.
Range: 0 - 99 
						

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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) Click on 
Setup |Connect icon to communicate with the PCL601 controller.
8) If problems still exist, contact Anaheim Automation Tech Support.
910 East Orangefair Lane
Anaheim, CA, 92801-1195
phone: (714) 992-6990
fax: (714) 992-0471
www.anaheimautomation.com
Anaheim Automation, Inc.
Tech Support:
Problem:
There is no power to the PCL601 controller.
Possible Solutions:
1) Is the PCL601 controller connected to the appropriate power supply?
2) Check for any blown fuses in line with the PCL601 controller.
3) If problems still exist, contact Anaheim Automation, Inc. Tech Support.
Problem:
My program won’t “Autostart”.
Possible Solutions:
1) Verify that the Autostart Function has been enabled.
2) Go to 
Setup | Autostart Program and Click on Enable.
3) If problems still exist, contact Anaheim Automation Tech Support. 
						

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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 command “!” can clear an error by simply prompting the error code register
    to return the value back to the PC or PLC.
Note: Read the Error returned to the screen to better understand what can be causing the fault
          condition. The error is returned in binary coded decimal format. If two errors were
          received, their binary values would be added together.
Error Codes
e d o C r o r r Ee p y Tn o i t p i r c s e D
1e v i e c e R
r o r r E w o l f r e v Oe h t y b d e s u a c r o r r e l a n r e t n i n a s i s i h T . r o r r e g n i v i e c e r a d a h s n o i t a c i n u m m o c l a i r e s e h T
. r e t u pm o c
21r o r r E r e d o c n E.x e d n i e h t t c e r r o c o t d e d e e n r e d o c n e e h T
42r o r r E r e d o c n E. r o r r e s i h t h t i w t e s s i 8 t u p t u O . x e d n i e h t h s i n i f t o n d l u o c r e d o c n e e h T
8ro r r E d n a m m o Cg n i e b d n a m m o c e h t t a h t e e s o t k c e h c e s a e l P . r e l l o r t n o c e h t o t t n e s s a w d n a m m o c d a b A
. d i l a v s i t n e s
6 1ro r r E r o t o Ms s e l s i d e e p s e s a b e h t t a h t e r u s e k a m e s a e l P . y l t c e r r o c n i t e s e r a s e l i f o r p d e e p s r o t o M
. s e g n a r d i l a v r i e h t ni h t i w e r a s d e e p s e h t t a h t d n a d e e p s x a m e h t n a h t
2 3w o l f r e v O e g n a R
r o r r Ed n i f o t g n i y r t d n a m m o c P e h t y b d e s u a c s i s i h T . r o r r e w o l f r e v o n a s a h n o i t i s o p o t o g e h T
. e g n a r s t i fo t u o s i t a h t n o i t i s o p a
4 6ro r r E e g n a Ro t k c e h C . r e l l o r t n o c e h t o t t n e s s r e t c a r a h c d n a s d n a m m o c f o r e b m u n d i l a v n i n a s a w e r e h T
. t n e s s a w t a h t d n a m mo c e h t r o f d i l a v n i e r a s r e t e m a r a p e h t f i e e s
8 2 1ro r r E t t i m s n a r T. m o r p e e e h t y b d e s u a c r o r r e l a n r e t n i n a s i s i h T . C P e h t o t k c a b t n e s s r e t e m a r a p y n a m o T
6 5 2ro r r E e d o M, e d o m g n i m m a r g o r p n i y l n o d o o g e r a s d n a m m o c e m o S . e d o m g n o r w a n i s i r e l l o r t n o C
h c i h w e e s o t n o i t c e s e d o m t c er i d e h t k c e h C . e d o m t c e r i d n i y l n o d o o g e r a s r e h t o e l i h w
. e d o m t c e r i d n i d o o g e r a s d n a m m o c
2 1 5o r e Z
s r e t e m a r a P
r o r r Er e l l o r t n o c e h t o t t n e s s a w d n a m m o c A . r e l l o r t n o c e h t o t t n e s s r e t e m a r a p o n e r e w e r e h T
. d n a m m o ce h t r e t f a s r e t e m a r a p e e s o t d e t c e p x e t a h t
4 2 0 1ro r r E y s u Bn a c d n a r e v i r d e h t o t s k c o l c t u o g n i d n e s s i r e l l o r t n o c e h T . g n i x e d n i y s u b s i r e l l o r t n o c e h T
. n o i t c u r t s n i tx e n e h t e t u c e x e t o n
8 4 0 2e g n a R y r o m e M
r o r r Em a r g o r p e h t g n i w o l f r e v o y b d e s u a c s i s i h T . e g n a r f o t u o s i s s e r d d a d e i f i c e p s e h T
. e g r a l o t s i t a h tm a r g o r p a g n i v a h y b y r o m e m
6 9 0 4y r o m e M
r o r r E d n a m m o Ce h t o t n i d e r o t s s a w t a h t d n a m m o c e h T . d i l a v n i s i y r o m e m m o r f d e l l u p d n a m m o c e h T
. r o r r e l a n r e t ni n a s i s i h T . m a r g o r p e h t y b e l b a t u c e x e n o n s a w m o r p e e
2 9 1 8l e e h w b m u h T
r o r r E d a e R. t n e s e r p t o n s i l e e h w b m u h t e h t r o l e e h w b m u h t e h t g n i d a e r r o r r e n a s a w e r e h T 
						

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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