Anaheim Automation CLCI2000 manual

USER'S MANUAL for CLCI2000 SERIES 1 to 4 AXIS COMPUTER INDEXERS Anaheim Automation (714) 992-6990 (714) 992-0471 fax May 6, 2002 #L010018[...]

COPYRIGHT Copyright 1993 by Anaheim Automation. All rights reserved. No part of this publication may be reproduced, transmitted , transcribed, sto red in a retrieval system, or translated into any language, in any form or by any means, electronic , me chanical, magnetic, optical, chemical, manual, or otherwise, without the prior written permission [...]

TABLE OF CONTENTS DESCRIPTION ............................................................ 1 General Description .................................................... 1 Main Features ........................................................ 1 Packing Information .................................................... 1 Ordering Information .............[...]

1 DESCRIPTION GENERAL DESCRIPTION The CLCI2000 Series Indexer is one of ANAHEIM AUTOMATION's Computer Indexer that generates clock and directio n signals for a step motor drivers. This Indexer allows the user to control speed, ramping, position, and I/O to perform complex motion with step motors. The CLCI2000 Series can control from 1 to 4 axe[...]

2 1 Ribbon cable with DB37 Connector and bracket 1 CLCI2000 SERIES DISK 2 #6 x 1/4 screws 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers CLCI2004 1 CLCI2001 Computer Indexer 1 Ribbon cable with DB37 Connector and bracket 1 CLCI2000 SERIES DISK 2 #6 x 1/4 screws 1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers ORDER[...]

3 AA37MFC-10 This is a DB37 Cable with a male connector on one end and a female connector on the other. The cable is 10 feet long . This cable should be used with the CLCI2000 Series Indexer and the AA2M37 Terminal Breakout Board. AA37MMC-6 T his is a DB37 Cable with a male connector on both ends. The cable is 6 feet long. This cable sho uld be use[...]

4 SPECIFIC ATIONS POWER REQUIREMENTS 5 VDC @ 500mA BUS ARCHITECTURE ISA Bus (PC/XT/AT/x86 Compatible) INPUTS Logic "0" 0 to 0.8 VDC Logic "1" 3.5 to 5 VDC All Inputs are pulled up to 5 VDC CLOCK OUTPUT HCMOS Type source current 16mA (Voh=2.7V) sink current 12mA (Vol=0.5V) DIRECTION OUTPUT HCMOS Type source current 8mA (Voh=2.7V)[...]

5 INST ALLATION INSTALLING THE BOARD T he Board Mounts into an IBM PC Compatible C omputer's 8 bit E xpansion Slot. To install the Board, line the back of the board up with th e c ard guide in the b ack of the computer. Gently but firmly press the board into the Expansio n slot. Screw down the mounting bracket with th e s crew provided. If the[...]

6 QUICKST ART WITH QUICKBASIC This is a quick procedure for hooking up the CLCI2000 Series Computer Board with a Driver and Step Motor. 1. Plug the CLCI2000 Series Computer Indexer into the computer. 2. Conne ct the cable from the computer to the DPI Series Driver Pack (verify that the LED lights up when th e c onnector is plugged in), or alternate[...]

7 CONNECTOR DESCRIPTIONS The CLCI2000 Series Indexer will come with either one or two 37 Pin D-Sub Connectors. For a CLCI2001 and CLCI2002 , t here is only one connector. For a CLCI2003 and CLCI2004 there is a second conn ector that connects to the board via a 37 pin ribbon cable. This second connector will need a port location to screw down to. NO[...]

8 DIRECTION SIGNALS T his output is TTL/C MOS compatible. The source current rating (Voh = 2.7 V) is 12mA. The sink current rating (Vol = 0 .5 V) is 9mA. The Direction signal is +5 VDC for '+' or clockwise motion, and 0VDC for '-' or counterclockwise motion. SOFT LIMIT T his input will cause the motor to ramp down to the base sp[...]

9 ENCODER INPUTS A Rotary Encoder is a device that measures ro tation of a shaft. The encoder can be mounted on the step motor shaft, o r for even greater accuracy, it can be mou nted on the shaft of the load. The encoder sends signals in a format called ' quadrature' to the controller which will take this data and use it to verify the mo[...]

10 PROGR AMMING WITH ANAHEIM AUTOMATION LIBRARIES Anaheim Automa tion has written Libraries that can be used to control the CLCI2000 Series Indexer Board in man y d ifferent languages. These languages include QuickBASIC, VisualBasic, C, and any Window s programming language. There are two different libraries written for the 'BASIC' langua[...]

11 CLCISUB1.B AS LIBRARY The CLCISU B1.BAS Library is for use with QuickBASIC, VisualBasic for DOS, or any other similar 'BASIC' base d p rogramming languages. This Library is set up to run CLCI2000 Series Indexers at any open addresses . The following i s a command list for all the usable Subroutines and Functions in this Library. This i[...]

12 This Function will return the value of the +Hard Limit Switch. If the Limit Switch is ACTIVE or 0VDC, the function wil l return a 1. If the Limit Switch is NOT ACTIVE, the function will return a 0. HOME.CCW ADDRESS, AXIS# T his Subroutine will HOME (sometim es called SLEW) the motor in the counterclockwise direction. The motion begins at Base Sp[...]

13 marker pulse . The marker pulse must be enabled by the LIMIT.CONTROL Command for this Command to wor k properly. ORIGIN.INDEX.CW ADDRESS, AXIS# This Subroutine will move in the CW Direction at base speed until the Encoder Marker is 'active'. When the Encoder Marker is 'active' the motion will stop. This is a good way to &apos[...]

14 w hat the state of the five Outputs will be. A '1' for the Outputs will turn the Output ON, and a '0' will turn the output OFF. T he last two numbers will specify which home switch will be cho sen HOME.DIR.3 refers to AXIS 3 (also called Axis C), a nd HOME.DIR .4 refers to AXIS 4 (Also refered to as Axis D). Only one home swi[...]

15 SAMPLE #1 (PROGRAM SAMPLE1.BAS ON THE CLCI2000 DISK) This is a sample program written for a single axis. If Input #1 is active, then the motor will move in the clockwise direction 5000 steps. If input #2 is active then the motor will move in the counterclockwise direction 4000 steps. It continues this loop indefinitely. 'PROGRAM FOR QUICKBA[...]

16 SAMPLE #2 (PROGRAM SAMPLE2.BAS ON THE CLCI2000 DISK) This sample shows two different homing routines that can be used to home the motors. The first routine callled Home Type 0, uses two switches - the first switch causes the motor to ramp down to base speed, and the second switch causes the motor to stop. The second routine, Home Type 1, uses on[...]

17 CLCISUBS.CPP PROGR AM FUNCTION DEFINITIONS T he CLCISUBS.CPP Library is for use with C or C++ progr amming languages. It can also be used with other versions o f 'C' or 'C+ +' with little or no modifications to the code. This Library is set up to run CLCI2000 Series Indexers at any o pen address. The following is a command li[...]

18 ONE_AT_MAX_CCW (ADDRESS, AXIS) This will go one step at the maximum speed in the CCW Direction. ONE_AT_MAX_CW (ADDRESS, AXIS) This will go one step at the maximum speed in the CW Direction. ORIGIN_INDEX_CCW (ADDRESS, AXIS) This will move at base speed until the EZ Channel of the Encoder goes active, and the pulses will stop. ORIGIN_INDEX_CW (ADD[...]

19 SLEW_AT_BASE_CCW (ADDRESS, AXIS) This will cause the motor to move at base speed in the CCW direction. SLEW_AT_BASE_CW (ADDRESS, AXIS) This will cause the motor to move at base speed in the CW direction. SOFT_INPUT_CCW (ADDRESS, AXIS) T his will return the value for the -Soft Limit Switch. A 1 will mean that the switch is active, and a 0 will me[...]

20 PROGR AMMING IN WINDOWS USING THE CLCI2000 INDEXER WITH WINDOWS To c ommunicate with the CLCI2000 Indexer, the programming language needs to have access to the computer bus . While running under windows, this bus can be controlled through a Dynamic Link Library, commonly called a DLL. A DL L will allow procedures to be performed that are not par[...]

21 WIN2000.BAS PROGRAM LISTING B elow is the file li sting for the WIN2000.BAS declaration file including all the Declarations needed to use the DLL with Visual Basic for Windows. ' *--------------------------------------------------------------- ' * ANAHEIM AUTOMATION DLL LIBRARY SUPPORT ' * DATE: DECEMBER 22, 1993 ' * Function[...]

22 CLCI2004 PROGR AM GENERATOR The CLCI2000 Series Indexers can be easily controlled by using the CLCI2004 Software. This software has been writte n to enable non programmers to easily control the indexer. The CLCI2004 Software has the capabilities to write program s u sing the user-friendly editor. The Software will allow control of all 4 axes of [...]

23 w ill toggle between two different windows which are shown below. The appropriate F unction Window must be showing to activate that particular function. +)))))))))))))))0)))))))))))))))0))))))))))))))), * F1 INSERT * F4 TERMINAL * F7 MORE * * F2 ADD * F5 SAVE * F8 PROG RUN * * F3 DELETE * F6 LOAD * F9 QUIT * .)))))))))))))))2)))))))))))))))2))))[...]

24 By Pressing the F7 key, these commands will be available. F1 - PROG STOP T ype the F1 Key to sto p the execution of the program. If the program fails to stop, hold down the F1 key. NOTE: The F1 key should not be used as an emergency stop for your system. F2 - SINGLE STEP Type the F2 Key to step the program one line at a time. This is a great way[...]

25 THE COMMAND WINDOW All the Commands available are listed in the window that appears on the right half of the computer screen, called the C ommand Window. The information is contained in two windows toggled by typing a ' C ' for Change Menu. Below is a d escription for all the commands. Once the Command Key is depressed, the Function Wi[...]

26 CLCI2004 PROGR AM GENERATOR COMMAND DICTIONARY Be low is a summary of the commands that are available on the CLCI2004 Program Generator. These comman d d efinitions will differ from those command available in the Libraries provided by Anaheim Automation. This program is g enerally used to setup a machine - and is not intended to be used in the f[...]

27 T o select Encoder On/Off, type the Command Key 'E'. This parameter specifies if Encoder Correction is to be Enabled o r Disabled. A '1' will Enable Encoder Correction, a '0' will Disable it. The Indexer will do al l the appropriate corrections needed when the Finish Move (F) command is executed. The default value f[...]

28 HOMING (0 or 1) There are 2 homing modes, Home Type 0 and Home Type 1. H ome Type 0 uses the Soft Limit Switch, and the Home Limit Switch. When the Soft Limit Switch i s encou ntered, the motor will start ramping down to th e Base Speed. When the Home Limit Switch i s encountered, the motor will stop. H ome Type 1 uses only the Home Limit Switch[...]

29 SET OUTPUTS (5 characters, a space, 5 characters) To select the command Set Outputs, type the Command Key 'O'. This command will set the outputs to the value that is specified. At power up, all outputs are in their open collector (off) state. SET POSITION (-8,388,608 to 8,388,608) To select th e command Set Position, type the Command K[...]

30 ADVANCED PROGRAMMING I n modifying an existing Library, or writing a new software library, It is strongly advised that programmers sh ould use the c urrent libraries for Basic or C, and transfer them to the differ ent languages. The current libraries are 'bug free', so this will help the programmer to produce 'bug-free' code.[...]

31 ADDRESS SELECTION (Hex) FUNCTION Base Address through Base Address + 3 READ INPUTS 1-5 (H00 -H03) Base Address + 4 through Base Address + 7 SET OUTPUTS 1-5, A:HOME DIR, B:HOME (H04-H07) DIR Base Address + 8 through Base Address + 11 READ INPUTS 6-10 (H08 -H0B) Base Address + 12 through Base Address + 15 SET OUTPUTS 6-10, C:HOME DIR, (H0C -H0F) D[...]

32 DATA BITS COMMAND SET TYPE (SEE DESCRIPTIONS FOR INDIVIDUAL COMMANDS) D7 D6 0 0 START OR STOP COMMANDS 0 1 INITIAL SETUP COMMANDS 1 0 INITIAL SETUP COMMANDS 1 1 INPUT AND OUTPUT CONTROL COMMANDS COMMAND BUFFER REGISTER Description of Command 76543210 00 X 00 X 00 Changes to constant speed operation at the Base Speed rate. * 00 X 00 X 01 Changes [...]

33 DATA BIT FUNCTION OF BIT IF IT IS A "0" IF IT IS A "1" 0 Pulse Rate Source Selection Base Speed Max Speed 1 Ramping Up/Down Enable No Ramping Ramping 2 Pulse Direction Selection CW CCW 3 STOP No Function Stop 4 START No Function Start 5 No Function No Function No Function 6 MUST BE A ZERO Always Not Allowed 7 MUST BE A ZERO A[...]

34 It is nece ssary to determine the optimum value for the R4 Factor in order to obtain the desired Base Speed and Ma x S peed. Some balance must be reached between the lowest and highest desired speeds to allow for the most accurate s ettings of each. A large factor will produce the smoothest ramping, but will not allow for very high speeds. A low[...]

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