Anaheim Stepper PCL601USB Users Guide

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Encoder Commands: The PCL601USB controller is capable of using a quadrature incremental en-
coder with A and B channels.
Encoder Auto Correct: This command will enable or disable the encoder feature of the PCL601USB.
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 PCL601USB will try to autocorrect the motor shaft
position 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 PCL601USB 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 PCL601USB 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
commands 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 PCL601USB’s
step motor controllers. Connecting your PC to the PCL601USB, via a serial cable, the SMC60WIN soft-
ware can easily perform the following tasks:
• Exercise and monitor the PCL601USB controller
• Write and edit stored programs for standalone operation
• Directly communicate with the PCL601USB controller
Installation
Software
• The SMC60WIN is supplied on a CD, containing  the setup program of the SMC60WIN
   software, Windows Virtual Comport Driver, PCL601USB 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) Apply power to the PCL601USB controller. Follow the onscreen instructions to install the virtual
    comport on the computer. The driver is located on the CD in the drivers folder.
2) Double click on the SMC60WIN icon to run the SMC60WIN software.
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 PCL601USB 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)
After the 1st intial setup of the comport and axis settings, the PCL601USB should connect to
the software at when the software is launched.
Changing the COM Port Number of the USB port
1) From DeviceManager, select “View devices by type”, then “Ports (COM & LPT)”. Select
     the USB serial port and click Properties. Select the “Port Settings” tab, then click Ad-
    vanced.
2) Choose the required COM port number from the list and click OK. 
						

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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 PCL601USB 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 B S U 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 
						

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PCL601USB Memory Available
With the create and edit program tab sheet selected, the user can obtain the amount of available memory,
located to the right of the Delete command button. The PCL601USB has a maximum available memory of
2046 bytes - each instruction can use from 2 to 7 bytes.
Current Program Filename
With the create and edit program tab sheet selected, the user can obtain the current program filename,
located in the lower left corner of the SMC60WIN window. All programs created by the SMC60WIN soft-
ware will have a .mdb and a .bak  extension.
Tab Sheets - Create and Edit Program
r e l l o r t n o C o t m a r g o r P d n e S.r e l l o r t n o c e h t o t m a r g o r p t n e r r u c d n e S
r e l l o r t n o C n i m a r g o r P w e i V.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 w e i V
r e l l o r t n o C n i m a r g o r P d a o l p U. g n i v a s d n a g n i t i d e r o f 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 d a o l p U
t r a t s o t u A e l b a n E.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 t r a t s l l i w m a r g o r P
t r a t s o t u A e l b a s i D.d e k c i l c s i n u r n e h w e t u c e x e y l n o l l i w m a r g o r P
n u R.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 e t u c e x E
p o t S.n o i t u c e x e m a r g o r p t r o b A
d d A.m a r 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
e g n a h C.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
t r e s n I. 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
e t e l e D.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