Anaheim Stepper PCL601USB Users Guide

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Add/Change/Insert Commands
The Add/Change/Insert commands contain four different tab sheets, which are “Motion Commands”, “If/
Then and Output Commands”, “Goto, For Loops, Encoder and Thumbwheel Commands” and “Analog,
Registration and Text Commands”.
s d n a m m o C n o i t o M. c t e , n o i t c e r i d , s n o i t i s o p , s d e e p s r e t n e o t r e s u s w o l l a t a h t n o i t c e s e r a w t f o S
t u p t u O d n a n e h T / f I
s d n a m m o C. s e n i t u o r 0 / I d n a s t n e m e t a t s l a n o i t i d n o c e t a l u p i n a m o t r e s u s w o l l a t a h t n o i t c e s e r a w t f o S
d n a r e d o c n E , p o o L r o F , o t o G
s d n a m m o C l e e h w b m u h Tr e t n e , s e n i t u o r p o o l d n a g n i h c n a r b e t a l u p i n a m o t r e s u s w o l l a t a h t n o i tc e s e r a w t f o S
. s e h c t i w s l e e h w b m u h t e h t l o r t n o c d n a s r e t e m a r a p r e d o c n e
t x e T d n a n o i t a r s i g e R , g o l a n A
s d n a m m o C, s t i m i l n o i t i s o p d n a d e e p s g o l a n a r o f s r e t e m a r a p r e t n e o t r e s u w o l l a t a h t n o i t c es e r a w t f o S
. t n e s e b o t s g n i r t s t x e t d n a s r e t e m a r a p 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 x e d n i
These tab sheets is where the program functions are selected to be added to or to change existing lines
of programming code in the Create and Edit Program tab.
• To add a line of motion control, select appropriate command, and if required, enter the required
   value for that particular command. Then, click OK.
• Comment is optional, for any lines of code.
• The text box above the OK and Cancel buttons will display useful information about each command.
Currently Selected Line
The currently selected line is indicated in the program by the right pointing arrow/triangle in the left column.
Clicking on any line will select a new currently selected line. 
						

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Add Tab Sheets - Motion Commands
l e c e D / l e c c Ac e s / p e t s ( . 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 m a r g o r p t e S2)
d e e p S e s a B)c e s / p e t s ( . e t a r d e e p s ) t r a t s ( e s a b m a r g o r p t e S
d e e p S x a M) c e s / p e t s ( . e t a r d e e p s ) g n i n n u r ( m u m i x a m m a r g o r p t e S
d e e p S g o J t e S)c e s / p e t s ( . e t a r d e e p s g n i g g o j m a r g o r p t 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
) W C C ( W C n o i t c e r i D.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
) F F O ( N O t n e r r u C r o t o M.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
s d n o c e s i l l i M _ _ _ t i a W. s d n o c e s i l l i m n i y a l e d a r e t n e o t r e s u e h t s w o l l a d n a m m o c s i h T
s p e t S _ _ _ e v o M. d e r e t n e s p e t s f o r e b m u n d e n i f e d e h t e v o m o t r o t o m w o l l a l l i w d n a m m o c e v o m e v i t a l e R
n o i t i s o P o t e v o M. d e i f i c e p s n o i t i s o p e h t o t r o t o m e v o m l l i w d n a m m o c e v o m e t u l o s b A
n o i t i s o P t e S. r e l l o r t n o c e h t n i r e t s i g e r n o i t i s o p e h t e g n a h c o t r e s u s w o l l A
e v o M h s i n i Ft x e n e h t o t g n i u n i t n o c e r o f e b d e t e l p m o c e b o t d n a m m o c n o i t o m y n a w o l l a l l i w d n a m m o C
. d n a m m o c n o i t o m y r e v e r et f a d e s u e b d l u o h s d n a m m o c s i h T . e d o c f o e n i l
e v o M t s a L t a e p e Rt c e r r o c o t u a r e d o c n e h t i w e s u t o n o D . e v o m x e d n i s u o i v e r p e h t t a e p e r l l i w d n a m m o C
. d e l b a n e
s t i m i L e m o H , t f o S o t e m o Ho t t s r i f t u p n i t f o s e h t g n i k e e s , d e r e t n e t s a l n o i t c e r i d e h t n i n o i t o m n i g e b l l i w d n a m m o C
. d e r e gg i r t s i t i m i l e m o h e h t n e h w p o t s o t n e h t , d e e p s e s a b o t n w o d r o t o m e h t w o l s
t i m i L e m o H o t e m o Ho t n w o d r o t o m e h t w o l s l l i w h c i h w t i m i l e m o h e h t g n i k e e s n o i t o m n i g e b l l i w d n a m m o C
. d e r e g g i r t r e g n o l o ns i 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 e h t e s r e v e r , d e e p s e s a b
) y l s u o u n i t n o c e v o m ( w e l Sll i w d n a m m o C. p o t s o t d e r e g g i r t l i t n u g n i v o m p e e k d n a d e e p s x a m o t p u r o t o m p m a r
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
m a r g o r P f o d n E. e d o c m a r g o r p e h t n i d n a m m o c t s a l e h t s a d e r i u q e r s i d n a m m o c s i h T 
						

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Add Tab Sheets - If/Then and Output Commands
n e h t w o l e b h c t a m s t u p n i f I
, e n i l t x e n e h t e t u c e x e
e n i l t x e n e h t p i k s e s i w r e h t os t u p n i e h t f i e d o c f o e n i l t x e n e h t e t u c e x e ot r e s u e h t s w o l l a d n a m m o c l a n o i t i d n o c s i h T
. d e p p i k s s i e n i l t x e n e h t , h c t a m t o n o d s t u p n i e h t f I . e u l a v n e v i g e h t h c t a m d e r
e g g i r t
e t u c e x e n e h t , s e h c t a m t u p n i f I
p i k s e s i w r e h t o , e n i l t x e n e h t
e n i l t x e n e h tc i f i c e p s e h t f i e d o c f o e n i l t x e n e h t e t u c e x e o tr e s u e h t s w o l l a d n a m m o c l a n o i t i d n o c s i h T
s i e n i l t x e n e h t , h c t a m t o n s e o d t u p n i e h t f I . e u l a v n e v i g e h t s e h c t a m d e r e g g i r t
t u p n i
. d e p p i k s
s t u p t u O t e SC L P r e g g i r t o t d e s u e b n a c s t u p t u o e s e h T . ) 0 = f f o ( r o ) 1 = n o ( d e n r u t e b n a c s t u p t u o e h T
. c t e , s d i o n e l o s , s y a l e r, s n o i t a r e p o 
						

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#L010183September 2005
Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands
o t o G. l e b a l d e i f i c e p s e h t o t p m u j o t m a r g o r p e h t s w o l l a d n a m m o C
l e b a L.s d n a m m o c p o o l d n a o t o g r o f l e b a l a s t r e s n i d n a m m o C
e n i t u o r b u S m o r f n r u t e R. e d o c f o e n i l t x e n e h t e t u c e x e d n a o t o g t s a l e h t o t n r u t e r l l i w d n a m m o C
p o o L r e t u Oa o t s e m i t f o r e b m u n c i f i c e p s a d e p o o l e b o t s d n a m m o c f o e c n e u q e s a s w o l l a d n a m m o C
d e s u e b t o n n a c d n a m m o c s i h T . dn a m m o c p o o l r e t u o e h t e r o f e b e b t s u m l e b a l s i h T . l e b a l
. p o o l r e n n i n a n i h t i w
p o o L r e n n Ia o t s e m i t f o r e b m u n c i f i c e p s a d e p o o l e b o t s d n a m m o c f o e c n e u q e s a s w o l l a d n a m m o C
d e s u e b n a c d n a m m o c s i h T . d n a mm o c p o o l r e n n i e h t e r o f e b e b t s u m l e b a l s i h T . l e b a l
. p o o l r e t u o n a n i h t i w
f f O x e d n I l e e h w b m u h T. x e d n i o t s e h c t i w s l e e h w b m u h t e h t e s u o t y t i l i b a e h t e l b a s i d l l i w d n a m m o C
n O x e d n I l e e h w b m u h Te h t n i e b t s u m 2 h c t i w S . x e d n i l e e h w b m u h t e h t e s u o t r e s u e h t s w o l l a d n a m m o C
. d e l b a n e e b o t l e e h w b m u h te h t r o f n o i t i s o p l e e h w b m u h t
x e d n I l e e h w b m u h T e v o Me h t y b t e s s p e t s f o r e b m u n d e n i f e d e h t e v o m o t r o t o m w o l l a l l i w d n a m m o c e v o m e v i t a l e R
. s e h c t i w s l e eh w b m u h t
f f O t c e r r o C o t u A r e d o c n E. d a e r e b l l i t s n a c e u l a v r e d o c n e e h T . r o t o m e h t f o t c e r r o c o t u a e h t e l b a s i d l l i w d n a m m o C
n O t c e r r o C o t u A r e d o c n Ed e s a b , d e d e e n f i r o t o m e h t t c e r r o c o t u a d n a r e d o c n e e h t f o e s u e h t e l b a n e l l i w d n a m m o C
. s r e t s i g e rr e d o c n e e h t n o
y a l e De h T : d e h s i n i f s i x e d n i n a r e t f a d e d e e n e m i t g n i l t t e s r o f d e s u y a l e d e m i t a s t e s d n a m m o C
. d a e r s i t n u o c r e d o c n e e h t e ro f e b s r u c c o y a l e d
o i t a R r o t o M. p e t s r o t o m e n o o t s t n u o c r e d o c n e f o r e b m u n e h t s t e s d n a m m o C
s e i r t e R. g n i r o r r e e r o f e b f l e s t i t c e r r o c o t u a n a c r o t o m e h t s e m i t f o r e b m u n e h t s t e s d n a m m o C
. d e r e g g i r t e b l l i w 8 t u p t u O ,s r o r r e t c e r r o c o t u a e h t n e h W
w o d n i W. f f o e b o t d e w o l l a s i r o t o m e h t s t n u o c r e d o c n e f o r e b m u n e h t s t e s d n a m m o C
t n u o C r e d o c n E t e s e R. ) o r e z ( 0 o t t n u o c r e d o c n e e h t t e s e r l l i w d n a m m o C 
						

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Add Tab Sheets - Analog, Registration and Text Commands
) f f O ( n O d e e p S 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
d e e p S g o l a n A t e S. t u p n i g o l a n a e h t n o d e s a b d e e p s ) g n i n n u r ( m u m i x a m e h t s t e S
t i m i L r e w o L d e e p S g o l a n A. d e i f i c e p s e u l a v 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 s t e S
t i m i L r e p p U d e e p S g o l a n A. d e i f i c e p s e u l a v 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 s t e S
) f f O ( n O n o i t i s o P g o l a n Ago l a n a e h t s t e Sno i t i s o p.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 o t o G. t u p n i g o l a n a e h t n o d e s a b n o i t i s o p e h t o t e v o m l l i w r o t o M
t i m i L r e w o L n o i t i s o P g o l a n Ago l a n a e h t s t e Sno i t i s o p.d e i f i c e p s e u l a v e h t o t t i m i l r e w o l
t i m i L r e p p U n o i t i s o P g o l a n Ago l a n a e h t s t e Sno i t i s o p.d e i f i c e p s e u l a v e h t o t t i m i l r e p p u
) f f O ( n O 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 s t e S
n o i t i s o P t u p t u O t s 1. x e d n i d n a g n i r u d r e g g i r t l l i w t u p t u o t s 1 e h t t a h t n o i t i s o p e h t s t e S
s t u p t u O n e e w t e B s p e t S. t u p t u o d e r e g g i r t e h t n e e w t e b s p e t s f o r e b m u n e h t s t e S
s t n u o C t u p t u O f o #.r e g g i r t l l i w t u p t u o e h t s e m i t f o r e b m u n e h t t e S
) f f O ( n O 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 s t e S
x e d n I n o i t a r t s i g e R. d e t a v i t c a s i t u p n i n o i t a r t s i g e r e h t r e t f a r u c c o l l i w t a h t x e d n i e h t f o e u l a v e h t s t e S
t x e T d n e S) m u m i x a m s r e t c a r a h c 0 2 ( . r e s u e h t o t k c a b g n i r t s t x e t d e r e t n e e h t d n e s l l i W 
						

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Calculator
S P R > - S P P. d n o c e s r e p n o i t u l o v e r o t d n o c e s r e p s e s l u p m o r f t r e v n o C
S P P > - S P R. d n o c e s r e p s e s l u p o t d n o c e s r e p n o i t u l o v e r m o r f t r e v n o C
v e R r e P s p e t Sv e r / p e t s 0 0 2 a r o f s i t l u a f e d e h T . r o t o m p e t s e h t f o n o i t u l o v e r r e p s p e t s f o r e b m u n e h t r e t n E
. 0 0 4 o t l a u q e s i hc i h w , p e t s f l a h n i r o t o m
e s o l C.r o t a l u c l a C e h t t i x E 
						

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Section 4: Direct Talk Mode
Direct mode is used to directly control motion for real time movements through serial communication. The
PCL601USB controller  has 40 commands, which are easy to remember.
COM Port Settings
Baud Rate:38400
Data Bits:8
Parity:None
Stop Bits:1
Flow Control:Xon/Xoff
Unit Selection
In order to select a unit, the @ command followed by the address of the unit must be sent.
NOTE: There should be no spaces between the @ and address select.
How to select a unit:
@0 (Unit 0 is selected)
@1 (Unit 1 is selected)
@29 (Unit 29 is selected)
How to get a response from a unit:
@0$ (Carriage Return)
After the $ command, the PCL601USB will return a SMC60 + the current revision number.
Note: In direct talk mode each command is followed by a carriage return.
The unit communicates in half duplex mode, therefore proper setup of hyper terminal is necessary to view
characters, if characters are to be echoed back to the screen.
Instructions
All instructions require that no spaces be sent between the command and the parameter followed by a
carriage return.
@0 not @ 0 correct: @0(carriage return)
incorrect: @ 0 (carriage return)
Command Summary:
A - Acceleration/Deceleration
B - Base speed
C - Steps between outputs
D - 1st output on the fly position
EA - Encoder autocorrect enabled
ED - Encoder delay
EM - Encoder motor ratio
ER - Encoder retries
ET - Encoder reset
EW - Encoder window
G - Go number of steps
H - Home
I - Read inputs
J- Fast jog speedM - Max speed
N - Number of steps
O - Set outputs
P - Absolute position
S - Go slew
T - Motor current enabled
V - Verify
Z - Position
! - Error codes register
$ - Version number
% - Verify axis number
‘ - Index on the fly enabled
( - Output on the fly enabled+ - Clockwise direction
, - Stop soft
- - Counterclockwise direction
. - Stop hard
/ - Thumbwheel enabled
: - Analog position enabled
; - Analog speed enabled
[ - Analog speed lower limit
] - Analog speed upper limit
^ - Number of outputs
{ - Analog position lower limit
} - Analog position upper limit
~ - Set address of PCL601USB 
						

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A - Acceleration/Deceleration
Format: A[value]
Description: This command sets the acceleration profile which is an integer value between
100 and 9,999,999. The higher the value, the faster the motor acceleration.
Range: 100 - 9,999,999
B - Base speed
Format: B[value]
Description: This command sets the base (start) speed for motion. This value must be set be-
fore motion begins and be less then the maximum speed and fast jog speed.
Range: 1 - 5000
C - Number of steps between outputs during output on the fly
Format: C[value]
Description: This command sets the number of steps between when output 1 turns on during an
output on the fly move. If only one output turn on is needed, set this value to 0. This
command is used in conjunction with the output on the fly enabled “(“ command.
Range: 0 - 65535
D - 1st Output on the fly position
Format: D[value]
Description: This command sets the position at which output 1 will turn on during an
output on the fly move. This command is used in conjunction with the output on the
fly enabled “(“ command.
Range: 0 - 65535
EA - Encoder autocorrect enabled
Format: EA[0 or 1]
Description: This command will either enable or disable the encoder autocorrect function. To
enable the function use a 1, to disable the function use a 0. When this function is
enabled, the relative register is used to calculate the encoder position, therefore
before the next move is made, the relative register needs to be set. This command
is used in conjunction with the encoder delay “ED”, encoder ratio “EM”, encoder
retries “ER” and encoder window “EW” commands. 
						

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ED - Encoder delay
Format: ED[value]
Description: This command sets the wait time a specified number of milliseconds after a relative
index or absolute move is finished,  before reading the encoder. This is used to
remove the ringing that might be associated with the mechanics of the system.
This command is used in conjunction with the encoder autocorrect “EA” command.
Range: 0 - 65535
EM - Encoder motor ratio
Format: EM[value]
Description: This  represents the ratio for the number of encoder pulses to one motor step. An
example is for a 1000 line quadrature encoder and a 400 step/revolution motor, the
motor ratio is (1000 * 4) / 400 = 10. This command is used in conjunction with the
encoder autocorrect EA command.
Range: 1 - 255
ER -Encoder retries
Format: ER[value]
Description: This is the number of times the PCL601USB controller will try to autocorrect the
motor before erroring. This command is used in conjunction with the encoder
autocorrectEA command. When the autocorrect errors, Output 8 will be triggered.
Range: 0 - 255
ET - Encoder reset
Format: ET
Description: This command will reset the internal encoder count register to 0.
EW -Encoder window
Format: EW[value]
Description: This is the allowable error in encoder pulses (either plus or minus) from the desired
position that is allowed before the motor autocorrects. This command is used in
conjunction with the encoder autocorrect EA command.
Range: 0 - 255 
						

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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 PCL601USB
controller. 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 (accelera-
tion/deceleration) commands.
H - Home
Format: H[0 or 1]
Description:
Home Types: H0:In type 0 homing, the PCL601USB 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 PCL601USB 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) com
mands.
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