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Anaheim Automation CLCI2000 Series User Manual

1 to 4 axis computer indexers
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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

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Summary of Contents for Anaheim Automation CLCI2000 Series

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

  • Page 2: Limited Warranty

    Warranty provisions may be voided if the products are subjected to physical damage or abuse. Anaheim Automation will repair or replace at its option, any of its products which have been found to be defective and are within the warranty period, provided that the item is shipped freight prepaid, with RMA (return material authorization), to Anaheim Automation's plant in Anaheim, California.

  • Page 3: Table Of Contents

    CONNECTOR DESCRIPTIONS ..........7 PROGRAMMING WITH ANAHEIM AUTOMATION LIBRARIES ..... . 10 Programming with QuickBASIC or VisualBasic for DOS .

  • Page 4: Description

    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 axes, using only one computer slot found in an IBM Compatible Computer.

  • Page 5: Ordering Information

    This is the part number for a Single Axis Driver Pack that is configured to interface with a CLCI2001. The Driver Pack contains Anaheim Automation's 1.0 to 7.0 Amp driver (AA2300B), 300 watt power supply, breakout terminal board, and interface connector. To connect from the CLCI2001 to the Driver Pack, a 37 pin cable is needed (AA37MMC-6 or AA37MMC-10).
  • Page 6 This is a DB37 Breakout Board. This board contains a DB37 Male Connector, and screw terminal blocks to aid in wiring to the CLCI2000 Series Indexers. The cable needed to interface between the Indexer and this module is the AA37MFC-6...

  • Page 7: Specifications

    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...

  • Page 8: Installation

    WIRING TO THE CLCI2000 The CLCI2000 Series Indexers comes with either 1 or 2 37 Pin D-sub type connectors. These connectors contain signals that must be connected to the Driver to control the step motors. One simple way to do this is to buy the DPI65200 Series Driver Pack which allows the two to be connected by a simple 37 pin cable (good for 1 and 2 axis versions only).

  • Page 9: Quickstart With Quickbasic

    QUICKSTART WITH QUICKBASIC This is a quick procedure for hooking up the CLCI2000 Series Computer Board with a Driver and Step Motor. Plug the CLCI2000 Series Computer Indexer into the computer. Connect the cable from the computer to the DPI Series Driver Pack (verify that the LED lights up when the connector is plugged in), or alternately, connect only the Clock, Direction, and 0VDC signals from the computer connector to the driver pack.

  • Page 10: Connector Descriptions

    CONNECTOR DESCRIPTIONS The CLCI2000 Series Indexer will come with either one or two 37 Pin D-Sub Connectors. For a CLCI2001 and CLCI2002, there is only one connector. For a CLCI2003 and CLCI2004 there is a second connector that connects to the board via a 37 pin ribbon cable.
  • Page 11 DIRECTION SIGNALS This output is TTL/CMOS 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 +5VDC for '+' or clockwise motion, and 0VDC for '-' or counterclockwise motion. SOFT LIMIT This input will cause the motor to ramp down to the base speed.

  • Page 12: Encoder Inputs

    The guaranteed accuracy of the system will then be determined by the resolution of the encoder. Anaheim Automation stocks a 400 line encoder. This will produce 1600 counts per revolution, which results in accuracies of better than 0.225E.

  • Page 13: Programming With Anaheim Automation Libraries

    To get a feel for the time that is involved in communicating from the board to the PC here is an example. The time it took a 486 computer running at 33MHz to Read the Position from the CLCI2000 Series Indexer running with uncompiled code under QuickBASIC was 285usec.

  • Page 14: Clcisub1.Bas Library

    The CLCISUB1.BAS Library is for use with QuickBASIC, VisualBasic for DOS, or any other similar 'BASIC' based programming languages. This Library is set up to run CLCI2000 Series Indexers at any open addresses. The following is a command list for all the usable Subroutines and Functions in this Library. This is a comprehensive list that will allow complete control of the CLCI2000 Series Index Boards.
  • Page 15 This Function will return the value of the +Hard Limit Switch. If the Limit Switch is ACTIVE or 0VDC, the function will return a 1. If the Limit Switch is NOT ACTIVE, the function will return a 0. HOME.CCW ADDRESS, AXIS# This Subroutine will HOME (sometimes called SLEW) the motor in the counterclockwise direction.
  • Page 16 marker pulse. The marker pulse must be enabled by the LIMIT.CONTROL Command for this Command to work 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.
  • Page 17 what 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. The last two numbers will specify which home switch will be chosen HOME.DIR.3 refers to AXIS 3 (also called Axis C), and HOME.DIR.4 refers to AXIS 4 (Also refered to as Axis D).

  • Page 18: Sample Program #1

    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.

  • Page 19: Sample Program #2

    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.

  • Page 20: Clcisubs.cpp Program Function Definitions

    The CLCISUBS.CPP Library is for use with C or C++ programming languages. It can also be used with other versions of 'C' or 'C++' with little or no modifications to the code. This Library is set up to run CLCI2000 Series Indexers at any open address.
  • Page 21 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 (ADDRESS, AXIS) This will move at base speed until the EZ Channel of the Encoder goes active, and the pulses will stop.

  • Page 22: Sample Program #3

    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) This will return the value for the -Soft Limit Switch. A 1 will mean that the switch is active, and a 0 will mean the switch is not active.

  • Page 23: Programming In Windows

    USING THE CLCI2000 INDEXER WITH WINDOWS To communicate 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 DLL will allow procedures to be performed that are not part of the standard Windows Instruction Set.

  • Page 24: Win2000.Bas Program Listing

    WIN2000.BAS PROGRAM LISTING Below is the file listing 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 Declarations ' *----------------------------------------------------------*/ Declare Function BUSY Lib "win2000.dll"...

  • Page 25: Clci2004 Program Generator

    AUTOMATION's custom libraries. Two libraries have been created to use with Microsoft QuickBASIC and Borland C++ to allow the user to write software to control the CLCI2000 Series Indexers along with any other computer boards they might need. These libraries contain all the Subroutines and Functions needed to control the Indexer.
  • Page 26 will toggle between two different windows which are shown below. The appropriate Function Window must be showing to activate that particular function. +)))))))))))))))0)))))))))))))))0))))))))))))))), F1 INSERT F4 TERMINAL F2 ADD F5 SAVE F3 DELETE F6 LOAD .)))))))))))))))2)))))))))))))))2)))))))))))))))- +)))))))))))))))0)))))))))))))))0))))))))))))))), F1 PROG STOP F4 PRINT F2 SINGLE STEP F3 CLEAR PROG...

  • Page 27: The Program Window

    THE PROGRAM WINDOW The Program Window displays the contents of the program that is loaded. An example of how the program window looks with program SAMPLE1 is shown below. This program is shipped on the CLCI2000 SERIES DISK. +)))))))))))))))))))))))))))))))))))))), AXIS...
  • Page 28 THE COMMAND WINDOW All the Commands available are listed in the window that appears on the right half of the computer screen, called the Command Window. The information is contained in two windows toggled by typing a 'C' for Change Menu. Below is a description for all the commands.

  • Page 29: Clci2004 Program Generator Command Dictionary

    Below is a summary of the commands that are available on the CLCI2004 Program Generator. definitions will differ from those command available in the Libraries provided by Anaheim Automation. This program is generally used to setup a machine - and is not intended to be used in the final design of the machine. The Libraries are intended for this purpose, and therefore contain commands that allow for more flexibility and control.
  • Page 30 To select Encoder Retries, type the Command Key 'V'. This parameter specifies how many times the CLCI2000 will try to obtain the correct position. For a value set at 1, the CLCI2000 will move the correct distance, and then retry once if the encoder value does not match the number of steps the motor was supposed to take.
  • Page 31 HOMING (0 or 1) There are 2 homing modes, Home Type 0 and Home Type 1. IF INPUTS THEN... (5 characters, a space, 5 characters), Line# To select If Inputs Then..., type the Command Key 'I'. This command will check the value of the Inputs and loop to the specified line number if they match what was specified.
  • Page 32 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 the command Set Position, type the Command Key 'S'.

  • Page 33: Advanced Programming

    The CLCI2000 communicates over an 8-Bit bus. All information going into the board, and out of the board does so in 8 bit words. The CLCI2000 Indexer chip has a set of registers that can be written to through the bus. The description of these registers follows below.

  • Page 34: Read Inputs

    Base Address + 29 (H1D) Base Address + 30 (HIE) Base Address + 31 (HIF) CLCI2000 BOARD ADDRESSING COMMAND BUFFER REGISTER The two most significant bits of the Command Buffer Register write determine the 'Type' of command given to the board.
  • Page 35 DATA BITS START OR STOP COMMANDS INITIAL SETUP COMMANDS INITIAL SETUP COMMANDS INPUT AND OUTPUT CONTROL COMMANDS COMMAND BUFFER REGISTER START OR STOP COMMANDS If send during operations, otherwise no function ** For these commands, the pulse output cannot be stopped until the target pulse rate has been acheived or until a limit input has been reached.
  • Page 36 DATA BIT FUNCTION OF BIT Pulse Rate Source Selection Ramping Up/Down Enable Pulse Direction Selection STOP START No Function MUST BE A ZERO MUST BE A ZERO START STOP COMMAND INDIVIDUAL BIT DEFINITIONS INITIAL SETUP COMMANDS To set up the Position Register and Encoder Register, set the following send to the Command Buffer Register: send to the LSB send to the MID...
  • Page 37 It is necessary to determine the optimum value for the R4 Factor in order to obtain the desired Base Speed and Max Speed. Some balance must be reached between the lowest and highest desired speeds to allow for the most accurate settings of each.
  • Page 38 NOTES...

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