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Advantech PCL-839+ User Manual

3-axis stepping motor control card
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PCL-839+
3-Axis Stepping Motor Control
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User Manual

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Summary of Contents for Advantech PCL-839+

  • Page 1 PCL-839+ 3-Axis Stepping Motor Control Card User Manual...
  • Page 2 No part of this man- ual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reli- able.
  • Page 3 Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products which have been repaired or...
  • Page 4 This product has passed the CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local supplier for ordering information.

  • Page 5: Table Of Contents

    Contents Chapter 1 General Information ........2 1.1Introduction ..................2 1.2Features ..................3 1.3Applications..................3 1.4Specifications ................. 4 1.4.1Digital Input / Output ..............4 1.4.2General ..................4 1.5Block Diagram................5 Figure 1.1:PCL-839+ 3-Axis Stp. Motor Control Card . 5 Chapter 2 Installation ............
  • Page 6 3.4.1Function 1: set base ..............23 3.4.2Function 2: set mode ..............24 3.4.3Function 3: set_speed ............... 25 3.4.4Function 4: status ..............26 3.4.5Function 5: stop ................ 27 3.4.6Function 6: slowdown .............. 28 3.4.7Function 7: sldn_stop ............... 29 3.4.8Function 8: waitrdy ..............30 3.4.9Function 9: out_port ..............
  • Page 7 Figure 4.4:Status 2 Bit Configuration ......59 4.6.5Digital Outputs: WR12 and WR13 ........... 60 4.6.6Digital Inputs: RD12 and RD13 ..........60 4.6.7Interrupt Control: WR14 ............61 Figure 4.5:Interrupt Path of the PCL-839+ ....61 4.6.8Interrupt Status Register: RD14 ..........61 4.7Typical Operational Procedures ..........
  • Page 8 PCL-839+ User Manual viii...
  • Page 9 General Information If you have just purchased the PCL- 839+, or just need to brush up on its features or specifications, you would want to read this chapter. Sections include: • Introduction • Features • Applications • Specifications • Block Diagram...

  • Page 10: Chapter 1 General Information

    Chapter 1 General Information 1.1 Introduction The PCL-839+ is a high-speed three-axis stepping motor control card that simplifies stepping motor control, giving you added performance from your stepping motors. Three-Axis Control The PCL-839+ has three single-chip pulse generators on-board, which enables the simultaneous and independent control of three axes.

  • Page 11: Features

    1.2 Features • Three on-board pulse generators that enables simultaneous independent control of three stepping motors • Two operating modes - two-pulse (+ and - direction pulse) or one-pulse (pulse-direction) mode • Programmable step rate from 1 to 200k pps (pulses per second). •...

  • Page 12: Specifications

    1.4 Specifications • Number of axes: Three independent axes (individually programmable) • Operating modes: Two-pulse mode (+ or – direction) or one-pulse (pulse-direction) mode • Steps per command: ±16777215 steps • Step Rate: 1-200K • Acceleration/deceleration ramping: User programmable start, run and ramping rates.

  • Page 13: Block Diagram

    1.5 Block Diagram Address Address Decoder DATA DIR & PCL-AK OUTPUT PULSE STEPPING MOTOR ISOLATOR OUTPUT Buffer CONTROLLER PCD-4541 ORG,EL+, INPUT EL- & ISOLATOR FUNCTION SD+,SD- DECODER INPUTS IRQ Selecteor DIGITAL OUTPUTS BLOCK DIGITAL INPUTS PCL-839+ HIGH SPEED STEPPING MOTOR CONTROL CARD Figure 1.1: PCL-839+ 3-Axis Stepping Motor Control Card Chapter 1...
  • Page 14 PCL-839+ User Manual...
  • Page 15 Installation If you have not yet configured and/or installed your PCL-839+, or need to change the configuration (e.g. set a dif- ferent base address), this chapter will give you the information you require. Sections include: • Switch and Jumper Settings •...

  • Page 16: Chapter 2 Installation

    Chapter 2 Installation 2.1 Switch and Jumper Settings Before you install the PCL-839+, you need to select the card's base address, and set the limit switch configurations as well as the interrupt level that the card will use. This section describes this procedure in detail. 2.1.1 Setting the PCL-B39 Base I/O address (S1) The PCL-839+ requires 16 consecutive I/O addresses.

  • Page 17: Limit Switch Configuration (Jp1, Jp2, Jp3)

    SWITCH Line Figure 2.1: S1 - Base Address Setting 2.2 Limit Switch Configuration (JP1, JP2, JP3) The PCL-839+ features 5 limit switches for additional control of the out- put. 2.2.1 EL+/ EL These are the End Limit signal inputs. When the signal of the same direc- tion as the pulse output (in direction or pulse mode) becomes active, pulse output stops immediately.

  • Page 18: Limit Switch Polarity Setting

    2.3 Limit Switch Polarity Setting JP1, JP2 and JP3 set the polarity for channels C, B and A respectively. When the jumper is set to LO (normal), the limit switch uses 'normally open' as default. When the jumper is set to HI, the limit switch uses' nor- mally closed' as default.

  • Page 19: Figure 2.3:Normally-Open Wiring

    LCOM PCL-839+ +5V ~ +12V Limit switch is -- normal open type Limit switch polarity jumper (JP1,2,3) must be put to -- LO position Figure 2.3: Normally-Open Wiring PCL-839+ LCOM +5V ~ +12V EL + EL - Limit switch is -- normal close type Limit switch polarity jumper (JP1,2,3) must be put to -- HI position Figure 2.4: Normally-Closed Wiring Chapter 2...

  • Page 20: 2Interrupt Level Selection (Jp4)

    2.3.2 Interrupt Level Selection (JP4) You have to set jumper JP4 to select the card's interrupt level (2, 4, 5, 7, 10, 11, 12 or 15), as shown below: Card interrupt (default = 7) Figure 2.5: Setting the Interrupt Level Do not select a level that is being used by another device unless you have performed special programming to share several devices on one interrupt.

  • Page 21: 1Installing The Card In Your Computer

    2.4.1 Installing the Card in Your Computer: • Turn off the computer and all peripheral devices (such as printers and monitors). • Disconnect the power cord and any other cables from the back of the computer. Turn the chassis so that the back of the unit faces you. •...

  • Page 22: 1The 37-Pin Female Connector (Cn3)

    2.5.1 The 37-pin Female Connector (CN3) DIR/-dir (CHA) PULSE/+dir (CHA) EXT.VCC (CHA) (CHA) PULSE/+dir (CHB) DIR/-dir (CHB) EXT.VCC (CHB) (CHB) PULSE/+dir (CHC) DIR/-dir (CHC) (CHC) EXT.VCC (CHC) (CHA) (CHA) (CHA) (CHA) (CHA) LCOM (CHA) (CHB) (CHB) (CHB) (CHB) LCOM (CHB) (CHB) (CHC) (CHC)

  • Page 23: 2Example Input / Output Circuit Connections

    COM : Isolated outputs common point for each channel EL+ : (+) Direction emergency stop limit switch input EL- : (-) Direction emergency stop limit switch input SD+ : (+) Direction slowdown limit switch input SD- : (-) Direction slowdown limit switch input ORG : Original (home) point limit switch input LCOM :...

  • Page 24: Figure 2.7:Non-Isolated 12 V Bias Connection

    EXT.VC PULSE/+dir PULSE Stepping Motor DIR/-dir Driver Figure 2.7: Non-Isolated 12 V Bias Connection The next two figures illustrate a TTL compatible output circuit connec- tion and a current-drive output connection between the PCL-839+ and the stepping motor driver. EXT.VC PULSE/+dir PULSE Stepping...

  • Page 25: 3Digital Input And Output Connectors (Cn1, Cn2)

    EXT.VC Stepping motor driver PULSE PULSE Figure 2.9: Current Driver Output Connection 2.5.3 Digital Input and Output Connectors (CN1, CN2) The PCL-839+ provides two 20-pin digital input and output connectors, located at CNI (digital output) and CN2 (digital input). A variety of daughter-boards can be connected to these connectors.

  • Page 26: Figure 2.10:Cn1 (Digital Output)

    D/O 0 D/O 1 D/O 2 D/O 3 D/O 4 D/O 5 D/O 6 D/O 7 D/O 8 D/O 9 D/O 10 D/O 11 D/O 12 D/O 13 D/O 14 D/O 15 Figure 2.10: CN1 (Digital Output) D/I 0 D/I 1 D/I 2 D/I 3 D/I 4...
  • Page 27 PCL-839+ Software Library This chapter describes the 'C' libraries and the functions they contain. If you want to write your own applications in 'C', this chapter will give you all the information you need. Sections include: • Introduction • The PCL839P.H Header File •...

  • Page 28: Chapter 3 Pcl-839+ Software Library

    Chapter 3 PCL-839+ Software Library 3.1 Introduction On the floppy disk that came with your PCL-839+ card, there are 'C' library files. These libraries were developed in 'Turbo C', and you should be able to develop your own stepping motor applications (in 'C') using these files.
  • Page 29 int CH13 = 5 ; /* Channel #1 & #3 */ int CH23 = 6 ; /* Channel #2 & #3 */ int CH123 = 7 ; /* Channel #1,#2 and #3 */ int P_DIR = 0 ; /* Positive (+) dirction */ int N_DIR = 1 ;...

  • Page 30: The Pcl839Px.lib Library File

    /* NOTE : port_no = 0 , 1 , 2 = 1 , 2 , 3 , 4 , 5 , 6 , 7 beside function status_ch(ch) that ch = 1 , 2 , 3 dirc = 0 : CW direction 1 : CCW direction plan_ch = CH12 , CH13 or CH23 = 0 , 1...

  • Page 31: Function Call Descriptions

    3.4 Function Call Descriptions This section gives a detailed description of the functions available in the library files. There are 15 functions in the PCL839 library. They are the following: 3.4.1 Function 1: set base This function sets the base address of the PCL-839+. This enables the use of multiple PCL839s, if you require doing so.

  • Page 32: 2Function 2: Set Mode

    3.4.2 Function 2: set mode This function sets the output mode for a channel, or a group of channels. Prototype: int set_mode (int ch, int mode); Parameters: channel number1 for channel 1 2 for channel 2 3 for channel 3 4 for channels 1 &...

  • Page 33: 3Function 3: Set_Speed

    3.4.3 Function 3: set_speed This function sets the low-speed pulse output frequency, high-speed pulse output frequency and acceleration/deceleration rate for a channel. Prototype: int set_speed(int ch, int FL, int FH, int AD); Parameters: channel number (See Function 2). Low-speed frequency1 - 16382 pps. High-speed frequency1 - 16382 pps.

  • Page 34: 4Function 4: Status

    3.4.4 Function 4: status This function reads and returns the status of a channel. Prototype: int status(int ch); Parameters: channel number 1 - channel 1 2 - channel 2 3 - channel 3 Return values: -1: An error occurred Other: The high byte will contain the value of 'Status 1' and the low byte the value of 'Status 0'.

  • Page 35: 5Function 5: Stop

    3.4.5 Function 5: stop This function stops channel ch. Prototype: int stop(int ch); Parameters: channel number (See Function 2). Return values: 0: No error occurred 1: An error occurred Example(s): int error_code; error_code = stop(CH123) ; Channels 1, 2 and 3 are stopped. Chapter 3...

  • Page 36: 6Function 6: Slowdown

    3.4.6 Function 6: slowdown This function ramps the output frequency of channel(s) ch down to FL. Prototype: int slowdown (int ch) Parameters: channel number (See Function 2). Return values: 0: No error occurred -1: An error occurred Example(s): int error_code = slowdown(CH23) ; Channel 2 and 3's speed is ramped down to FL.

  • Page 37: 7Function 7: Sldn_Stop

    3.4.7 Function 7: sldn_stop This function ramps the output frequency of channel(s) ch down to FL. Prototype: int sldn_stop(int ch); Parameters: channel number (See Function 2). Return values: 0: No error occurred -l: An error occurred Example(s): error_code = sldn_stop(CH 12); Channels t and 2's are ramped down to FL, and then stopped.

  • Page 38: 8Function 8: Waitrdy

    3.4.8 Function 8: waitrdy This function checks the 'Stares0' of channel(s) ch and waits until bit 6 of 'Status0' is 0 Prototype: int waitrdy (int ch) Parameters: channel number (See Function 2). Return values: 0: No error occurred -1: An error occurred Example(s): error_code = waitrdy (CH12);...

  • Page 39: 9Function 9: Out_Port

    3.4.9 Function 9: out_port This function outputs a value to the assigned port . Prototype: int out_port(int port_no, int value) ; Parameters: port_no: digital output port number 0 for port 0 (DO7-0) 1 for port 1 (DO15-8) 2 for ports 0 & l If port_no was set as “2”...

  • Page 40: 10Function 10: In_Port

    3.4.10 Function 10: in_port This function reads and returns the value of a digital input port. Prototype: int in_port (int port_no) ; Parameters: port_no: D/I port number 0 for port 0 (DI7-0) 1 for port 1 (DI15-8) 2 for ports 0 & 1 If port_no was set as “2”...

  • Page 41: 11Function 11: Org

    3.4.11 Function 11: org This function returns all three channels to the 'ORIGIN' point. The direc- tion and speed (frequency) that each channel has to use are supplied. Prototype: int org(int ch, int DiR1, int SPEED1, int DIR2, int SPEED2, int DIR3, int SPEED3) ;...

  • Page 42: 12Function 12: Cmove

    3.4.12 Function 12: cmove This function starts channel(s) ch in continuous mode. Channel 1 will move in DIR1 direction at SPEED1 speed, etc. The channel(s) will stay in continuous move mode until 'stop' or 'stdn_stop' is executed. Prototype: int cmove (int ch, int DIR1, int SPEED1, int DIR2, int SPEED2, int DIR3, int SPEED3);...

  • Page 43: 13Function 13: Pmove

    3.4.13 Function 13: pmove This function starts channel(s) ch in continuous mode, for a certain amount of steps. Channel 1 will move in DIR1 direction at SPEED1 speed and will stop when it has completed STEP 1 steps, etc. Prototype: int pmove (int ch, int DIR1, int SPEED1, long STEP1, int DIR2, int SPEED2, long STEP2, int DIR3, int SPEED3, long STEP3);...

  • Page 44: 14Function 14: Line

    3.4.14 Function 14: line If you are using two stepping motors simultaneously (in a plotter-type configuration), you can move to position (X, Y) from the current position, (0, 0). Both axes are measured in steps. Prototype: int line(int ch_plan, int X, int Y); Parameters: ch_plan channel numbers CH12 for channels 1 &2 CH13 for channels 1 &3...

  • Page 45: 15Function 15: Arc

    3.4.15 Function 15: arc If you are using two stepper motors simultaneously (in a plotter-type con- figuration), you can "draw an arc" from (X1, Y1) to (X2, Y2) Prototype: int arc (int ch_plan, int dir, long X1, long Y1, long X2, long Y2); Parameters: ch_plan: channel numbers CH12 for channels 1&2 CH13 for channels 1&3...
  • Page 46 Example(s): error_code = arc (CH13, 1, 200, 50, 50, 200) ; (50,200) (200,50) (0,0) Current position Central point of ARC PCL-839+ User Manual...
  • Page 47 Register Programming This chapter describes the PCL-839+'s hardware registers. It also contains typ- ical operational procedures that will assist you in program design. This chapter is a good place to start getting to know and use the capabilities of the PCL-839+ to best suit your application.

  • Page 48: Chapter 4 Register Programming

    Chapter 4 Register Programming 4.1 PCL-839+ Registers Several registers are used to control the PCL-839+. The PCL-839+ uses these registers to store commands, speed, mode, number of pulses etc. The following sections describe these registers in detail. 4.1.1 R0 : Down-Counter (24 bits) The down counter counts down when a pulse is output in manual mode, origin mode or preset mode.

  • Page 49: 2R1: Fl Register (13 Bits)

    4.1.2 R1: FL Register (13 bits) This register is used to set the FL (initial/low) speed. When started in high-speed mode, the generator starts at FL and ramps up to reach FH (Final/High speed). If the deceleration-stop command is received during high-speed operation, it ramps down to FL speed and then stops.

  • Page 50: 4R3: Acc. / Dec. Rate Register (10 Bits)

    4.1.4 R3: Acc. / Dec. Rate Register (10 bits) This register is used to set acceleration (ramping up) and deceleration (ramping down) characteristics. During high-speed mode, the generator starts at FL and accelerates to FH. If the reference clock frequency is (TCLK)[sec], TSUD(the time required for the ramping-up/ramping-down) is: TSUD = [(R2)-(R1)]x (R3)x(TCLK) x Multiplier [sec] Alternatively, if the ramping-up/ramping-down time is known, R3 can be...

  • Page 51: 5R4: Multiplier Register (10 Bits)

    4.1.5 R4: Multiplier Register (10 bits) For the speed registers, Rl and R2, a number of steps can be selected (1 to 8191). This register (R4) is used to assign an output frequency for one step. The reference clock inputted through the CLOCK terminal is divided and multiplied by the variable frequency divider and the fre- quency multiplier, and then outputted to the PULSE OUTPUT terminal.
  • Page 52 The range for R5 is 0001 (hex) to FFFF (hex) (1 to 65535 in decimal). The ramping-down point is set in pulses. * Setting of the ramping-down point When determining the ramping-down point, the FL frequency, the FH frequency and the deceleration rate has to be taken into account. If an improper value is set, pulse output may be terminated halfway during ramping-down (Fig.
  • Page 53 Tsd [sec], the time required for the deceleration is: Tsd = [(R2)-(R1)]x(R3) x Multiplier /(CLOCK) (1) where CLOCK = 4.9152 MHz The relationship between the set value on speed register (Rf) and output frequency (F [PPS]) is: F = (Rf)x(CLOCK)/[8192x(R4)] (2) Therefore, FL output frequency FL [PPS] and FH output frequency FH [PPS] are: FL = (Rl)x(CLOCK)/[8192x(R4) ] (3)

  • Page 54: 7R6: Idling Pulse Register (3-Bit)

    Psd, the number of pulses during T, [sec] is represented by the area of the trapezoid A-B-C-F: Psd = {[(FL) + (FH)]*Ted}/2(5) Substitute equations (1), (3) and (4) into equation (5): Psd = {[(R2) – (R1) ] x (R3) x Multiplier } / [16384 x (R4)] When output 5 pulses at FL speed after the completion of the ramping- down, the set value of the ramping-down point register (R5) is (R5) = Psd +5...

  • Page 55: Programming The Pcl-839

    4.2 Programming the PCL-839+ The PCL-839+ stores a selected command in a buffer. This command remains there until a new command is received. The only command that can be RESET is the 'starting mode' command. 4.3 I/O Register Control Format The following table depicts the PCL-839+ register’s I/O address map.
  • Page 56 Table 4.1: Register I/O Address Map Axis Offset Definition Address 0x08 Write Command Buffer Read Status0 0x09 Write Data Register (Lower°GBit7 To Bit0) Read Internal Data (Lower) 0x0A Write Data Register (Middle°GBit15 To Bit8) Read Internal Data (Middle) 0x0B Write Data Register (Upper°GBit23 To Bit16) Read Internal Data (Upper)

  • Page 57: Command Buffers: Wro, Wr4 And Wr8

    4.4 Command Buffers: WRO, WR4 and WR8. Each of the three channels has a command buffer that enables individual programming. Channel l's command buffer is BASE + 0, Channel 2's is BASE + 4 and Channel 3's is BASE + 8. A command can be written to any of the three buffers, and the appropriate channel will respond to the command.

  • Page 58: Commands

    4.5 Commands The following sections describe all the available commands and their parameters in detail. 4.5.1 Start-Stop Command Frequency Selection 0: Use FL frequency 1: Use FH frequency 0: Constant speed mode 1: High Speed mode 1:Start/stop control 0: Stop interrupt reset 1: Stop interrupt enable Constant speed operation with the FL register.
  • Page 59 Dual rate operation (ramping down). Frequency ramps down to the level of the FL. 0 (no output of INT signal at stop) 1 (output of INT signal at stop) Decelerating stop (reset command is required after stop). Frequency ramps down to the rate of the FL, then stops. Reset command.

  • Page 60: 2Operation Mode Select Command

    4.5.2 Operation Mode Select Command 1: ORG signal enable 1: SD+ signal enable 1: Preset enable 0: (+)direction 1: (-)direction Manual mode. Operation initiated in the start mode continues until the stop command is transferred. Origin return mode. Operation initiated in the start mode continues until the mechanical origin signal or stop command comes.

  • Page 61: 3Register Select Command

    4.5.3 Register Select Command Register Selection 0 0 0 R0: Preset Counter Data 0 0 1 R1: FL register 0 1 0 R2: FH register 0 1 1 R3: Acceleration/deceleration rate register 1 0 0 R4: Multiplier register 1 0 1 R5: Ramping-dow n point register 1 1 0 R6: Set idling pulse...
  • Page 62 Ramping-Down Point Interrupt Control This bit controls whether or not the INT signal is output when the ramp- ing-down point is reached. When this bit is 1 and the preset counter value becomes smaller than the ramping-down point setting in R5, it will output an INT signal.

  • Page 63: 4Output Mode Select Command

    4.5.4 Output Mode Select Command Logic setting of +/-PO output 0: Negative logic 1: Positive logic Pulse output 0: Output 1: No output Intermediate stop accel/decel operation 0: Enable accel/decel operation (continuous) 1: Disable accel/decel operation (change to constant speed) Input signal sensitivity setting for ORG , EL and EMG (*) 0: High sensitivity...

  • Page 64: Read Status

    4.6 Read Status Users can set the standard monitor or extension monitor by the “Output mode select command” Mode Address\ RD0, RD1, RD2, RD3, RD7, Register RD4, RD5, RD6, RD11 RD10 Standard Status0 R0 lower R0 mid- R0 upper byte Monitor byte dle byte...

  • Page 65: 1Channel Status Buffers (Rd0, Rd4 And Rd8)

    4.6.1 Channel Status Buffers (RD0, RD4 and RD8) There is a status buffer for each channel (status 0). These buffers are found at BASE +0, BASE +4 and BASE +8 for channel 1, channel 2 and channel 3 respectively. These buffers enable you to read the internal sta- tus of each channel, and also get certain information on input signals or conditions.

  • Page 66: 4Data Buffers: Wr3, Wr4 And Wr11

    4.6.4 Data Buffers: WR3, WR4 and WR11 One data-buffer for each channel is found at BASE+3, BASE+7 and BASE+I 1, for channel 1, channel 2 and channel 3 respectively. When writing (output), these buffers contain data bits 16 -24 of the respective channels.

  • Page 67: Figure 4.4:Status 2 Bit Configuration

    Monitor -PO terminal 0: Off 1: On Monitor +PO terminal 0: Off 1: On Monitor interrupt (each axis) 0: No interrupt, 1: Interrupt occurred Figure 4.4: Status 2 Bit Configuration For the value of Status3, it should be “0100-0000”, which represents the PCD4541 chipset.

  • Page 68: 5Digital Outputs: Wr12 And Wr13

    4.6.5 Digital Outputs: WR12 and WR13 WR12 is the low byte of the digital output and WR13 the high byte. To write to these buffers write to BASE12 and BASE13 respectively. The bit definition is as follows: WR13 WR12 4.6.6 Digital Inputs: RD12 and RD13 RD12 is the low byte of the digital input, and RD13 the high byte.

  • Page 69: 7Interrupt Control: Wr14

    4.6.7 Interrupt Control: WR14 WR14 is the interrupt control register for the PCL-839+, and is found at BASE +14. Only one bit, b0, of the byte is used. When b0=1, interrupts are enabled, and when b0-0, disabled, ifb0=1, and the channel-interrupt of the specific channel is also enabled (see Start-Stop command, bit 5), an interrupt will be generated when that channel reaches its 'stop position'.

  • Page 70: Typical Operational Procedures

    4.7 Typical Operational Procedures 4.7.1 Initialization Pulse mode Pulse output mode? Direction mode Counter Counter Count stop Count stop operation operation mode? mode? Output pulse Output pulse 4 Counts 4 Counts 4 Counts EL,ORG EL,ORG EL,ORG EL,ORG sensitivity? sensitivity? sensitivity? sensitivity? 4 Counts Immediate...

  • Page 71: 2Setting Speed Data

    4.7.2 Setting Speed Data Select the FL Register Command buffer <- 10000001(81H) Register bits 7-0 <- FL data, low -order 8 bits Set FL data Register bits 15-8 <- FL data, high-order 5 bits Command Buffer <- 10000010(82H) Select the FH Register Register bits 7-0 <- FH data, low -order 8 bits Set FH data Register bits 15-8 <- FH data, high-order 5 bits...

  • Page 72: 3Constant Speed Preset Mode

    4.7.3 Constant Speed Preset Mode Stop at pre-set count Execute the reset Command buffer <- 00001000(08H) command For(+)direction: command buffer <- 01000100(44H) Effect the preset mode For(-)direction: command buffer <- 01001100(4CH) and select the direction Command Buffer <- 10000000(80H) Select the counter Register bits 7-0 <- data, low -order 8 bits Set the number of Register bits 15-8 <- data, mid-order 8 bits...

  • Page 73: 4High Speed Preset Mode

    4.7.4 High Speed Preset Mode Ramp dow n at set point Stop at pre- set count Execute the reset Command buffer <- 00001000(08H) command For(+)direction: command buffer <- 01000100(44H) Effect the ramping mode For(-)direction: command buffer <- 01001100(4CH) and select the direction Command Buffer <- 10000000(80H) Select the counter Register bits 7-0 <- data, low -order 8 bits...

  • Page 74: 5Constant Speed Continuous Mode

    4.7.5 Constant Speed Continuous Mode Immediate stop command Execute the reset Command buffer <- 00001000(08H) command For(+)direction: command buffer <- 01000000(40H) Effect the manual mode For(-)direction: command buffer <- 01001000(48H) and set the direction Enter the start For FL: Command Buffer <- 00010000(10H) command For FH: Command Buffer <- 00010001(11H) Enter the immediate...

  • Page 75: 6High Speed Continuous Mode

    4.7.6 High Speed Continuous Mode Deceleration- stop command Stop after deceleration Execute the reset Command buffer <- 00001000(08H) command For(+)direction: command buffer <- 01000000(40H) Effect the manual mode For(-)direction: command buffer <- 01001000(48H) and select the direction Enter the start For FH: Command Buffer <- 00010101(15H) command Enter the deceleration...

  • Page 76: 7Constant Speed Origin Return Mode

    4.7.7 Constant Speed Origin Return Mode Stop by origin sw itch = ON Execute the reset Command buffer <- 00001000(08H) command Effect the origin return For(+)direction: command buffer <- 01000001(41H) mode and select the For(-)direction: command buffer <- 01001001(49H) direction Enter the start For FH: Command Buffer <- 00010000(10H) command...

  • Page 77: 8High Speed Origin Return Mode

    4.7.8 High Speed Origin Return Mode Ramp dow n by SD sw itch = ON Stop by origin sw itch = ON Execute the reset Command buffer <- 00001000(08H) command Effect the origin return For(+)direction: command buffer <- 01000011(43H) mode and set the For(-)direction: command buffer <- 01001011(4BH) direction Enter the start...
  • Page 78 PCL-839+ User Manual...
  • Page 79 Diagrams This chapter provides diagrams for some of the major functions of PCL- 839+. Sections include: • Jumper and Switch Layout • PCL-839+ Block Diagram • Output Circuit Diagram...

  • Page 80: Appendix A Diagrams

    Appendix A Diagrams A.1 Jumper and Switch Layout PCL-839+ User Manual...

  • Page 81: A.2Pcl-839+ Block Diagram

    A.2 PCL-839+ Block Diagram Address Address Decoder DATA DIR & PCL-AK OUTPUT PULSE STEPPING MOTOR ISOLATOR OUTPUT Buffer CONTROLLER PCD-4541 ORG,EL+, INPUT EL- & ISOLATOR FUNCTION SD+,SD- DECODER INPUTS IRQ Selecteor DIGITAL OUTPUTS BLOCK DIGITAL INPUTS Appendix A...

  • Page 82: A.3Output Circuit Diagram

    A.3 Output Circuit Diagram EXT.VCC PULSE/+dir PULSE DIR/-dir PCL-839+ User Manual...
  • Page 83 Simple Stepping Motor Driver This chapter provides extra diagrams related to the simple stepping motor driver.

  • Page 84: Appendix B Simple St. Motor Driver

    Appendix B Simple St. Motor Driver Full/Half step select PULSE Power Pattern Stepping Control Encoder Motor Circuit DIRECTION DC Power of Motor DC Power of Control Circuit Figure B.1: Simple Stepping Motor Driver Block Diagram 4.7K Pulse Direction POWER CONTROL CIRCUIT HALF FULL 18CV8...

  • Page 85: Figure B.3:Jp1 At Full Step Control

    [0001] FB=1 FB=1 FB=0 FB=0 [1000] 0010 FB=0 FB=1 FB=0 FB=1 [0100] Output Pattern = [OD OC OB OA] FH = 1 in all states Figure B.3: JP1 at Full Step Control Appendix B...

  • Page 86: Figure B.4:Jp1 At Half Step Control

    FB = 1 [0001] FB = 1 FB = 0 FB = 0 [1001] [0011] FB = 1 FB = 0 FB = 1 FB = 0 [1000] [0010] FB = 0 FB = 1 FB = 0 FB = 1 [1100] [0110] FB = 0...
  • Page 87 Motor¡¯s Power From Pattern Encoder Figure B.5: 4-Phase Stepping Motor Power Control Circuit Appendix B...
  • Page 88 PCL-839+ User Manual...

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