Anaheim Automation PCL501 User manual

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PCL501 / PCL501PC
Programmable Step Motor Controller
User’s Guide
4985 E Landon Drive, Anaheim, CA 92807
e-mail: [email protected]
[phone] fax: [phone]
website: www.anaheimautomation.com
ANAHEIM AUTOMATION
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Table of Contents
PCL501 / PCL501PC....................................................................................................................................1
Table of Contents..........................................................................................................................................2
Section 1: Introduction..................................................................................................................................3
Description....................................................................................................................................................3
Technical Support .........................................................................................................................................3
Ordering Information.....................................................................................................................................4
Axis Selection...............................................................................................................................................4
Baud Selection .............................................................................................................................................5
Baud Rates...................................................................................................................................................5
Methods of Communication..........................................................................................................................5
RS232 to RS485 Protocol ............................................................................................................................5
RS485 Protocol ............................................................................................................................................6
Two Wire Conguration ................................................................................................................................6
Four Wire Conguration ...............................................................................................................................6
Terminating Resistor.....................................................................................................................................7
Status LED ...................................................................................................................................................7
Interfacing With A Driver...............................................................................................................................7
Electrical Specications................................................................................................................................8
Terminal Descriptions ...................................................................................................................................8
Dimensions...................................................................................................................................................9
Wiring Diagrams .........................................................................................................................................10
Section 2: Functions................................................................................................................................... 11
Section 3: SMC50WIN Software ................................................................................................................14
Installation ..................................................................................................................................................14
Getting Started ...........................................................................................................................................14
“The Unit is Connected” / “The Unit is NOT Connected”............................................................................15
File Menu....................................................................................................................................................15
Setup Menu ................................................................................................................................................15
Toolbar........................................................................................................................................................16
Tab Sheets..................................................................................................................................................16
Motion Tab Sheet........................................................................................................................................16
Motion Tab Sheet Tutorial...........................................................................................................................17
Program Tab Sheet.....................................................................................................................................18
Current Program Filename.........................................................................................................................18
SMC50 Memory Available ..........................................................................................................................19
Currently Selected Line ..............................................................................................................................19
Add/Change/Insert Commands ..................................................................................................................19
Motion Command Tab Sheet .....................................................................................................................20
Program Parameters ..................................................................................................................................22
Calculator ...................................................................................................................................................23
Section 4: Direct Talk Mode........................................................................................................................24
COM Port Settings......................................................................................................................................24
Unit Selection .............................................................................................................................................24
Instructions .................................................................................................................................................24
Section 5: Troubleshooting.........................................................................................................................29
Error Codes ................................................................................................................................................30
Section 6: Tutorial.......................................................................................................................................31
Sample Program 1:.....................................................................................................................................31
Sample Program 2:.....................................................................................................................................32
Appendix 1: ASCII Table for Direct Mode ...................................................................................................34
Copyright ....................................................................................................................................................35
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Section 1: Introduction
The PCL501(PC) is an economical single axis step motor controller containing 2 Kbytes of non volatile
stored programming space. The user can write the program and then have the PCL501(PC) autostart
the program on power up. It provides exible, independent control of step motors from computers or any
machine controller with a serial port. It is also capable of stand-alone operation making it an embedded
machine controller. The easy to use Windows software, SMC50WIN, can be used to directly control motion
and to program the PCL501(PC). The PCL501(PC) also has the ability for real time functions. A “Direct
Mode” is used to directly control motion for Real Time Movements through serial communication. The
PCL501(PC) has 20 commands which are easy-to-remember for direct movement of a step motor. The
PCL501 communicates via RS485 communication and up to 32 PCL501s can be networked from one
communications port on your PC or PLC. The PCL501PC is for single unit communication. It is a RS232
version of the PCL501. The PCL501(PC) has 2 programmable open drain outputs and 4 TTL compatible
inputs and can be powered with DC (5-24VDC) or AC (8-16VAC) voltages.
Description
The PCL501(PC) controller is an open-loop system, meaning that no information is sent back to the
PCL501(PC) from the motor to verify the number of steps that were taken. A step motor is essentially a
digital device - you give the step motor driver 10 step pulses, and the motor moves 10 steps.
The PCL501 is designed to communicate over a RS485 bidirectional serial data bus.
The PCL501(PC) provides independent programming of acceleration/deceleration, base speed (start up
speed), max speed (running speed), and the number of steps to be taken in both relative and absolute
positioning modes. On absolute positioning moves, the PCL501(PC) automatically determines the proper
direction to go and the number of steps to take. The relative positioning will move a number of steps in
the direction that the user denes. The PCL501(PC) has a high level command set including: looping,
conditional statements, time delays, and I/O.
Hard, soft, and home limit switch inputs are provided for each axis. These features are generally required
in most machine control designs. 4 testable inputs and 2 programmable outputs are provided per axis.
These I/O may be used for monitoring and controlling machine operation and/or interaxis coordination.
These I/O are accessible independent of the busy state of the axis controls. The 4 inputs are TTL/CMOS
compatible. The 2 outputs are current sinking, open drain FETs.
The PCL501(PC) has a built-in programmable reset circuit. Reset is automatic on power-up or by pressing
the external reset button. A CD is provided when you purchase the unit. This CD allows you to write and
change programs that are to be stored in the PCL501(PC) for autostart use. This CD also allows you to
save the programs onto your computer hard drive, and easily retrieve them when needed.
Technical Support
Everyone needs help on occasion. If you have problems using any of the equipment covered by this
manual, please read the manual to see if it will answer the questions you have. Be sure to look in the
troubleshooting section located near the back of this manual. If you need assistance beyond what this
manual can provide, you can call the factory direct for application assistance. If possible, have this manual
in hand. It is often helpful to have the unit connected to a computer with the software installed.
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Ordering Information
The table below lists a variety of products available from Anaheim Automation. These products include those
covered by this manual along with supporting cables and devices. We are continually adding new products
to our line, so please consult your nearest authorized Anaheim Automation distributor or representative
for information on the latest releases.
Part Number Description
PCL501 RS485 compatible controller
PCL501PC RS232 compatible controller (Not multidrop compatible)
DPC40501 Controller/drive pack - Features a 4 amp bipolar drive and power supply
485SD9TB RS232 to RS485 converter
PSAM24V1.2A-
5V3.5A Power supply for PCL501 and PCL501PC ([email protected], [email protected])
Axis Selection
Each PCL501 will be addressed using 5 jumpers (JP4 - JP8) allowing the PC to address up to 32 PCL501s
from one port. The jumpers are considered ON (1) when they are in position “1-2” and OFF (0) when they
are in position “2-3”. To access the jumpers, remove the inner two screws on the bottom of the front cover
and the two screws on the top of the PCL501(PC). Remove the back plate from the cover (The circuit
board will still be mounted inside the cover). The jumpers are located on the back of the circuit board.
You do not have to remove the board from the cover to access the jumpers. The table below shows how
to congure the jumpers for a given axis. JP8 is the LSB (Least Signicant Bit) and JP4 is the MSB (Most
Signicant Bit). The PCL501PC has no axis selection, it’s axis is always 0.
Axis Selected Jumper
Setting Axis Selected Jumper Setting
0 00000 16 10000
1 00001 17 10001
2 00010 18 10010
3 00011 19 10011
4 00100 20 10100
5 00101 21 10101
6 00110 22 10110
700111 23 10111
8 01000 24 11000
9 01001 25 11001
10 01010 26 11010
11 01011 27 11011
12 01100 28 11100
13 01101 29 11101
14 01110 30 11110
15 01111 31 11111
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Baud Selection
The baud rate is selected using 3 jumpers (JP1 – JP3). They are selected the same way that the address
jumpers are selected. The table below shows how to congure the jumpers for a given baud rate. JP3 is
the LSB and JP1 is the MSB.
Baud
Rate
Jumper
Setting
1200 000
2400 001
4800 010
9600 011
19200 100
38400 101
57600 110
115200 111
Methods of Communication
There are two methods for sending commands to the PCL501(PC). One is to directly talk to the PCL501(PC)
by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller),
where the computer or PLC gives the PCL501(PC) serial commands to off-load its processor. For example:
A PLC can utilize its outputs to toggle the PCL501(PC)’s inputs and gain control of variable speeds, variable
programs, variable distances, etc. Simply using the PCL501(PC) as the intelligent pulse generator a PLC
can remove some of the tasks that were not meant for ladder logic or any PLC processing time. The second
way to give commands to the PCL501(PC) is to use the software program SMC50WIN to either manually
control or to write and send programs. This method is used when the PCL501(PC) is the main controller.
For example: A PCL501(PC) can replace simple motion control and replace I/O functional when minimal
quantities of I/O are required to control specic machinery. Simple motion proles that can operate with
4 or less inputs and 2 or less outputs can utilize a PCL501(PC) controller.
RS232 to RS485 Protocol
The PCL501 can be connected to your PC serial port via an RS485 or RS422 converter box. The RS232
converter will convert the RS232 communication format to the RS485 or RS422 format. Only one converter
box is needed per serial port. Contact the factory for RS485 converter information and sales.
Baud Rates
A term used frequently in serial data communications. A “baud” is dened as the reciprocal of the shortest
pulse duration in a data word signal, including start, stop, and parity bits. This is often taken to mean the
same as “bits per second”, a term that expresses only the number of “data” bits per second. Very often,
the parity bit is included as an information or data bit. The PCL501(PC) accepts the following baud rates:
1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200
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RS485 Protocol
The RS485 protocol is as follows, on board receivers will remain in active mode indenitely. Transmitters
must be turned off when the unit is not sending data to prevent the line from sending and receiving data
at the same time. Therefore when the PC is transmitting data its driver will be turned on and each of
the units connected will have their drivers off. If they are requested to send data back to the PC, the
selected unit will turn it’s driver on to send the data then turn it off after it has completed transmission.
Note: The above protocol is done internally between the converter and the PCL501. The RS485 method
of communication allows increased noise immunity and increased communication distance of up to 4000
feet without repeaters. RS485 repeaters allow an additional 4000 feet per repeater.
Four Wire Conguration
Devices congured for four wire communications use TX and RX connections for both the transmit and the
receive pairs. The user can connect the transmit lines to the receive lines to create a two wire conguration
exibility. Note that the signal ground line should also be connected in the system. This connection is
necessary to keep the VCM common mode voltage at the receiver within a safe range. From the diagram
below, it can be seen that all wires are run directly from the converter to the PCL501. For example TX+
from the converter goes to TX+ on the PCL501 and so on.
Two Wire Conguration
The two wire conguration reduces cabling costs by requiring only three wires. A, B and ground. The
PCL501 is designed to allow either the two or four wire conguration. To use the 2 wire conguration
simply wire TX+ to RX+, and TX- to RX- on your converter box. Then run a wire from ground, a wire
from TX+/RX+ and a wire from TX-/RX-, to the rst PCL501 in the network. Finally do the same on the
terminal block of the PCL501 as the converter box. The diagram below illustrates how this conguration
is connected. RS422 systems require a dedicated pair of wires for each signal, a transmit pair, a receive
pair, and an additional pair for each handshake/control signal used (if required). The tristate capabilities of
RS485 allow a single pair of wires to share transmit and receive signals for half duplex communications.
This “two wire” conguration (note that an additional ground conductor should be used) reduces cabling
cost. RS485 devices may be internally or externally congured for two wire systems. Internally congured
RS485 devices simply provide “A” and “B” connections (sometimes labeled “-” and “+”).
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Terminating Resistor
To eliminate noise on the transmission lines a terminating resistor may need to be used. If needed the
termination resistor need only be added to the last (furthest from the converter box) PCL501 in the network.
A termination resistor with a value of 120 ohms is needed in certain conditions; when using a 4000 ft. or
longer cable and a baud rate of 38400 or when using a 2000 ft. or longer cable and a baud rate of 57600.
If you need to add a terminating resistor, contact the factory for the exact location on the board.
Interfacing With A Driver
The PCL501(PC) was designed to control a step motor driver. For drivers with opto-isolated inputs, the
PCL501(PC) needs to sink current through the driver’s input LED. To do this, connect the +5VDC to the
positive terminals of the inputs and connect the clock and direction outputs of the PCL501(PC) to the nega-
tive terminals of the corresponding inputs on the driver. For the ON/OFF input, one of the PCL501(PC)
outputs can control this function. For a driver with TTL/CMOS inputs the PCL501(PC) has a negative
going clock and will sink the current from the driver’s inputs. Wire the clock and direction outputs and
0VDC reference of the PCL501(PC) to the clock and direction inputs and 0VDC reference of the driver
respectively. Once again an output of the PCL501(PC) can be used to control the ON/OFF function of
the driver. For a PCL501(PC) bought with an integrated driver and power supply, these connections are
already internally made.
Status LED
When powered and operated properly, the status LED will be green. When an error occurs, the LED will
change to RED and an error code will be generated in the error code register. To read and clear the error
with the software, click on the “Verify Parameters” button located in the “Motion Tab”. To read and clear
the error while in “Direct Mode” use the ! command. Once the error has been read and cleared, the LED
will return to green and the error code register will be cleared. Refer to the table on page 30 for a list of
the error codes.
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Electrical Specications
Power Requirements:
5VDC @ 50mA or
8VDC to 24VDC @ 25mA or
8VAC to 16VAC @ 25mA
Operating Temperature:
0 to 60 degrees C
Pulse Output Range:
77 to 15000 pps
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 5.0VDC
Baud Rate:
1200 to 115200 BAUD
Data Format:
Half-Duplex, 1 start bit, 8 data bits,
no parity, 1 stop bit
Outputs (2 programmable I/O):
Open Drain Type
40V, 75mA
+5VDC Output, 50mA
Note: For inductive loads, customers must connect a
clamping diode to protect from y back voltage spikes.
Outputs (CLK,DIR):
Open Drain Type
40VDC, 75mA
Terminal Descriptions
*Note: Pin 4 on TB4 is an available 5V out at 50mA if power is supplied by the 8-24VDC or 8-16VAC.
Pin # Description
1TX+
2TX-
3RX+
4RX-
5RS485
Ground
TB1: (PCL501 only)
Pin # Description Comments
1 OUT1 Open Drain
2 OUT2 Open Drain
3 IN1 Active Low
= 1
4 IN2 Active Low
= 2
5 IN3 Active Low
= 4
6 IN4 Active Low
= 8
70VDC Reference
TB3:
Pin # Description Comments
1JOG+ Active Low
2 JOG- Active Low
3 FJOG Active Low
4SOFT+ Active Low
5 SOFT- Active Low
6HARD+ Active Low
7 HARD- Active Low
8 HOME Active Low
9 CLK Open Drain
10 DIR Open Drain
11 0VDC Reference
TB2:
Pin # Description
1 8-16VAC IN
2 8-16VAC IN
3 8-24VDC IN
4* 5VDC IN/
OUT
5 0VDC
TB4:
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Dimensions
PCL501
PCL501PC
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Wiring Diagrams
PCL501
PCL501PC
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Section 2: Functions
Move Number of Steps: The move number of steps command causes the motion to start in the direc-
tion last specied. This command will move the motor the number of steps given. (Range: 0 to 8388607)
Soft Limit Switches: These switches are used exclusively when homing to a datum point. If positioned
properly with the appropriate parameters, it causes the motor to ramp down to the base speed before
encountering the home limit switch.
Move to Position: The move to position command species the next absolute position to go to. The
PCL501(PC) automatically sets the direction and number of steps needed to go to that position.
(Range: -8388608 to +8388607)
Limit Switch Inputs: The limit switch inputs are internally pulled up by a resistor making them normally
+5 volts. To activate the input, the pin must be grounded to (0VDC) on the terminal block.
Hard Limit Switches: When a hard limit switch is encountered, the motion will stop. The position counter
will also cease counting. Hard limits are intended as an emergency stop for your system. It should not be
used to do any indexing type functions.
Home Limit Switch: This switch is used to establish the reference position designated “home” in home
to home limit or home to soft, home limit.
Home to Soft, Home Limit (2 Switch Operation): This type requires two grounding type limit switches
called home and soft. The rst limit switch soft will decelerate the motor down to base speed. It will con-
tinue to run at base speed until it receives a home limit switch input causing the motor to stop. The home
limit switch only activates after a soft limit is sensed. The soft limit is not bidirectional, meaning that it will
work in only one direction as specied. The soft limit switch will work for any type of motion. The home
limit switch will work only for home motions.
Note: Whenever a soft limit switch is activated, the motor will decelerate and run at base speed. Be sure
to come back passed the soft limit switch to set any origins, otherwise the motor will decelerate as it goes
passed the soft limit switch.
Home to Home Limit: This type of homing differs in that only one limit switch is needed. The home limit
switch in this case causes the motor to ramp down to base speed, reverse direction and continue until
the limit switch is released. This is a good way to compensate for any backlash in the system. It is also
useful for minimizing the number of limit switches needed for homing.
Set Position: The set position command sets the position register to a designated value. The number
will be the new absolute position of the motor. The default value is 0. (Range: -8388608 to +8388607)
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Finish Move: When writing a program, the nish move command is used directly after a motion command.
With this command, the PCL501(PC) will see a busy signal until the move is complete before executing
any further commands. Unless the nish move command is used, the PCL501(PC) will keep on executing
commands, even though the PCL501(PC) is not ready to use it. This data will be ignored by the PCL501(PC),
so the program will not work as expected.
Quit: The quit command, used within a stored program, stops execution of the program. This command
must be used at the end of all programs.
Run: The run command starts the execution of a stored program.
Slew: The slew command will accelerate the motor up to maximum speed and continue to run at the speed
until reaching a hard limit switch, soft limit switches, or receiving a “.” (stop hard) command.
Wait: In stored program mode, the wait command pauses the program for the specied number of
milliseconds. (Range: 1 to 9999)
Jog Inputs: Jog is a manual function. The user can select the direction and speed (fast or slow) by grounding
the appropriate combinations of inputs on a particular axis. These inputs are located on the terminal block.
To jog a motor, it is necessary to ground the jog input on the axis for the direction desired. For fast jog,
both the fast and jog command for the appropriate direction must be low at the same time. The closure of
jog causes the motor to start at base speed and accelerate at a predetermined rate to jog speed. When
the fast input is closed, the motor will then accelerate to a pre programmed speed of 10kHz. The actual
jog rates can be programmed. Fast jog is not programmable. The position register will keep track of the
number of steps that are taken during jogging. Once a +jog or a -jog function has been performed, the
direction register will retain the last direction of movement; that is, a subsequent go command will be in
the same direction as the last jog command.
Programmable Inputs and Outputs: Four inputs and two outputs are provided per axis. The inputs may
be used to initiate a machine cycle, for inter-axis coordination (in stored program mode), for operator in-
tervention, for sensing a machine condition such as out of stock, or to wait for temperature to be reached.
Outputs may be used to operate coolant valve, air cylinders, relays, or, with the right interfacing, any
electronically controlled device. The inputs are TTL compatible. Since the inputs have pull up resistors, all
that is required for a signal is a switch closure to ground (0VDC). With zero volts on the input, the pull up
resistor source current is approximately 5mA. This will make the inputs read like they are logiclly reverse. A
grounded input will read a “1” and an open input will read a “0”. The outputs can drive all types of common
peripheral power loads, including lamps, relays, solenoids, LED’s, printer heads, and heaters. For induc-
tive loads, it will be necessary to connect a clamping diode (refer to specication section). The outputs are
current sinking, open drain FETs. They are capable of sinking up to 75mA per output with voltages up to
40VDC. Turning an output on will pull the pin to ground and turning an output off will make the pin open.
Note: For inductive loads, customers must connect a clamping diode in order to provide adequate y-back
protection. Input wiring should be kept separate from step motor wiring.
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Max Speed: The max speed is the top speed the user wants the motor to run at. This speed must always
be greater than the base speed. It is entered directly as the number of steps/second.
(Range: 77 to 15000)
Acceleration/Deceleration: The acceleration and deceleration are by default the same value. This function
controls the time that the motor will take to move from base speed to max speed. The higher the value,
the slower the motor will accelerate. The same principal applies for the deceleration which is controlling
the time it takes to go from maximum speed to base speed. The higher the value, the slower the motor
will decelerate. (Range: 1 to 255)
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. (Range: 77 to 3500)
Loop: The loop instruction allows the user to loop a program a variable number of times. The program
will loop to the designated address location of the program. The address must always be a lower address
value than the instruction itself. No nested loops are allowed.
Jog Speed: The jog speed sets the slow jog rate. Jog (+/-) can also be used in conjunction with the FJOG
pin. The FJOG pin, when grounded, will ramp the motor to 10kHz. This speed must always be greater
than the base speed.
Command Description
A Verify acceleration/deceleration
B Verify base speed
F Verify if controller is busy
J Verify jog speed
M Verify max speed
N Verify number of steps
O Verify outputs
P Verify goto position
Z Verify position
+Verify direction (1 is CW, 0 is
CCW)
Verify: The verify command causes the PCL501(PC) 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 permissible verify com-
mands are shown below.
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Installation
Software
•The SMC50WIN is supplied on a CD, containing the setup program and the SMC-
50WIN software
•SMC50WIN is compatible with all versions of Windows including Windows 2000 and
Windows XP
Windows 3.x Installation
1) Insert the CD into the drive
2) From the Program Manager select File | Run
3) Enter D:\setup and click OK - use the appropriate drive letter (i.e. Dor E)
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. Dor E)
Option 2
1) Open Windows Explorer
2) Open CD Drive Folder (D: or E:)
3) Double click the Setup Icon
Getting Started
1) Double click on the SMC50WIN icon to run the SMC50WIN software.
2) Apply power to the PCL501(PC) unit.
3) Set the appropriate communication setting by selecting Setup | Communication Setting
from the menu bar.
4) Establish communications with the PCL501(PC) by clicking on the Connect Icon, or select
Setup | Connect. If the unit is connected properly, the program will notify you when commu-
nica- tions has been established.
Section 3: SMC50WIN Software
The SMC50WIN software is a handy utility that supports Anaheim Automation’s line of PCL501(PC) and
PCL511(PC) step motor controllers. Connecting your PC to the PCL501(PC), via a serial cable, the SMC-
50WIN software can easily perform the following tasks:
•Exercise and monitor the PCL501(PC)
•Write and edit stored programs for stand-alone operation
•Directly communicate with the PCL501(PC)
The software will automatically switch between the PCL501(PC) and PCL511(PC) screens when the
controller is connected. The default screens are for the PCL501(PC) when no controller is connected.
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“The Unit is Connected” / “The Unit is NOT Connected”
On the right of the Toolbar, the user will nd the communication status of the PCL501(PC). If communications
is not established, please refer to the troubleshooting section.
New Program Start a new program.
Open Program... Open existing program.
Save Program As... Save current program.
Print... Print current program.
Exit Exit the SMC50WIN software.
File Menu
Setup Menu
Connect Establish communications with the controller.
Communication Settings... COM port & baud rate settings.
Axis Select axis (0-31) for multi drop units.
Autostart Program Enable/disable program execution on power up.
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Toolbar
Exit New Open Save Print Calculator Connect
Exit Exit the SMC50WIN software.
New Start a new program.
Open Open an existing program.
Save Save the current program.
Print Print the current program.
Calculator Desktop calculator.
Connect Establish communication with the controller.
Tab Sheets
Motion Controls and executes motion on the controller.
Program Write and modify PCL501(PC) stored pro-
grams.
Motion Tab Sheet
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Send Accel/Decel Send acceleration & deceleration parameter to controller. (step/sec2)
Send Base Speed Send base speed parameter to the controller. (step/sec)
Send Max Speed Send maximum speed parameter to the controller. (step/sec)
Send Jog Speed Send jog speed parameter to the controller. (step/sec)
Set Position Set motor position.
Set Dir CW Set direction to clockwise.
Set Dir CCW Set direction to counter-clockwise.
Home using
(Home Switch)
Motor will seek the home position by moving towards home switch wich will stop
the motor, reverse the motor direction and stop when the home limit switch is no
longer triggered. (One switch is required to stop anti-backlash)
Home using
(Soft, Home)
Motor will seek the home position by moving towards home switch but motor will
slow down to base speed when the soft switch is triggered, followed by triggering
the home switch to stop motion. (Two switches are required to stop)
Move number
of steps below Motor will move number of steps entered.
Slew Motor will ramp up to maximum speed and keep moving until stop motion is trig-
gered.
Move to Position Motor will move to specied position.
Stop Motion Stop any motor motion.
Inputs View inputs. (checked = ON, blank = OFF)
Outputs View and trigger outputs. (checked = ON, blank = OFF)
Verify Parameters Updates and displays controllers parameters and resets the error codes.
Motion Tab Sheet Tutorial
This tutorial will demonstrate the motion tab sheet:
1. Start the SMC50WIN software and power up the PCL501(PC).
2. Click the connect icon and establish communications with the PCL501(PC).
3. With the motion tab sheet displayed.
4. Enter 400 for the “Move number of steps below” button.
5. Click the “Move number of steps below” button, the motor should move 400 steps - 1 revolu-
tion on a 200 steps/rev motor running in half step mode.
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Program Tab Sheet
Send Program to
Controller Send current program to the controller
View Program in
Controller View program in controller memory.
Enable Autostart Program will start when controller is powered up.
Disable Autostart Program will only execute when run is clicked.
Run Execute the program in the controller memory.
Stop Abort program execution.
Add Adds a new line of code to the end of the program.
Change Edits the currently selected line of code.
Insert Insert a new line of code before the currently selected line of
code.
Delete Deletes the currently selected line of code.
Current Program Filename
With the program tab sheet selected the user can obtain the current program lename, located in the
lower left corner of the SMC50WIN window. All programs created by the SMC50WIN software will have
a .mdb extension.
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SMC50 Memory Available
With the program tab sheet selected the user can obtain the amount of available memory, located in the
lower right corner of the SMC50WIN window. The PCL501(PC) has a maximum available memory of 2047
bytes - each instruction can use from 1 to 5 bytes.
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.
Add/Change/Insert Commands
Add command contains 2 different tab sheets, which are Motion Parameters and Program Parameters.
Motion Parameters Software section that allows user to enter speeds, positions, direction, etc.
Program Parameters Software section that allows user to manipulate looping routines, I/O, delays,
etc.
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Motion Command Tab Sheet
The motion command tab sheet controls the motion information of the motor such as Acceleration/
Deceleration, Maximum Speed, Base Speed, Move number of Steps, and etc.
•It works similar to the Motion Tab Sheet explained above in the Getting Started section.
•To add a line of motion control, select appropriate motion control from the list, then enter
the required value for that particular action. 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.
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