Anaheim Stepper PCL601 Users Guide

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Sample Program 2:
Sample Program 2 illustrates a typical application where a system is first sent home to a datum or 0
position. This sample program shows how a motor will move to 3 different positions utilizing some of the
motion commands, loop routines and encoder routine.
0 Position
(Home Position)2” 4”6”
1st
Position2nd
Position3rd
Position
Labeler Dryer Capper 
						

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Sample Program 3:
Sample Program 3 illustrates the setup and operation of the output on the fly function, and the use of the
if/then statement. The system is first homed using home type 0, waits for input 1 to be a value of 0
(grounded) and then is indexed 10,000 steps. During this index, output 1 needs to be turned on every
1000 steps 5 times starting at position 2000. At the end of the index, output 1 is then turned on again for
1 mS  and the unit is then sent back the 10,000 steps to position 0, but the output should not be turned on.
The unit then repeats waiting for input 1 to be 0 and indexes again. 
						

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Sample Program 4:
Sample Program 4 illustrates the setup of the analog speed function and the use of “indexing-on-the-fly.”
The system is first homed using home type 1. The next step is to wait for the input register to read 110111
(input 2 must be high while input 3 is low, all other inputs are not used and input 1 is masked high due to
the analog function being used). The third step is to slew using the analog input as the maximum speed
between 5000 and 10000 steps/revolution. When input 2 is switched low,  the unit will index 2500 more
steps and ramp down to base speed and stop. At the end of the index, output 1 will turn on for 100 mS.
After the output is turned off the unit will be sent back to position 0. The program then is sent back to
repeat itself, waiting for the input register to be 110111 again. 
						

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Sample Program 5:
Sample Program 5 illustrates a typical 3 axis application where one PCL601 (Axis 0) is controlling the
other two axes (Axis 1 and Axis 2) by using the send text string commands. The program first sets the
accelerations, base speeds and maximum speeds for each axis.  It then is enabling Axis 0 and Axis 1 to
use the thumbwheel switch that is connected to each unit for indexing. The direction is then set for Axis 0
and Axis 1 and these two axes are then told to index the distance set in each thumbwheel at the same
time. The program then waits for the motion to finish before it tells Axis 2 to move. Axis 2 first moves in the
negative direction waits for the index to finish, and then moves back in the positive direction. After Axis 2
is finished moving, Axis 0 and Axis 1 are both sent back to their zero positions at the same time. The
program is then repeated. 
						

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Appendix 1: ASCII Table for Direct Mode
Appendix 2: Firmware Revisions
Version 1.00 - Initial Release.
Version 1.10 - Fixes Lockup on RS485 Communication.
Added capability to stop the motor on an Encoder Error after the Encoder Retries
number has been reached.
Version 2.00 - Added capability for the Encoder Ration to have 2 decimal points. Also when the encoder
retries fails, Output 8 is set. This verison of firmware also requires an upgrade to the
SMC60WIN version 2.00.
Version 2.10 - Fixes the update of the Analog Input when the pot was not changed after a manual
update of the Max Speed, or Goto Position registers.
Added the capability to verify the Hard and Soft Limit inputs. 
						

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Copyright
Copyright 2004 by Anaheim Automation, Inc.. All rights reserved. No part of this publication may be
reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language, in any
form or by any means, electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without
the prior written permission of Anaheim Automation, Inc., 910 East Orangefair Lane, CA, 92801. The only
exception to this would be use of the program examples in this manual.
Disclaimer
Though every effort has been made to supply complete and accurate information in this manual, the
contents are subject to change without notice or obligation to inform the buyer. In no event will Anaheim
Automation, Inc. be liable for direct, indirect, special, incidental, or consequential damages arising out of
the use or inability to use the product or documentation.
Limited Warranty
All Anaheim Automation, Inc. products are warranted against defects in  workmanship, materials and
construction, when used under Normal Operating Conditions and when used in accordance with
specifications. This warranty shall be in effect for a period of twelve months from the date of purchase or
eighteen months from the date of manufacture, whichever comes first. Warranty provisions may be voided
if the products are subjected to physical damage or abuse.
Anaheim Automation, Inc. will repair or replace at its option, any of its products which have been found to
be defective and are within the warranty period, provided that the item is shipped freight prepaid, with
RMA (return material authorization), to Anaheim Automation’s plant in Anaheim, California.
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ANAHEIM AUTOMATION, INC.