Anaheim CLCI2000 User 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

TABLE OF CONTENTS

DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Main Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Packing Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Installing the Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Wiring to the CLCI2000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Address Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

QUICKSTART WITH QUICKBASIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

CONNECTOR DESCRIPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

PROGRAMMING WITH ANAHEIM AUTOMATION LIBRARIES . . . . . . . . . . . . . . . . . . . . . . 10

Programming with QuickBASIC or VisualBasic for DOS . . . . . . . . . . . . . . . . . . . . . . . 10

Speed Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

CLCISUB1.BAS LIBRARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Sample Program #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Sample Program #2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CLCISUBS.CPP PROGRAM FUNCTION DEFINITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Sample Program #3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

PROGRAMMING IN WINDOWS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

WIN2000.BAS Program Listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

CLCI2004 PROGRAM GENERATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

CLCI2004 PROGRAM GENERATOR COMMAND DICTIONARY . . . . . . . . . . . . . . . . . . . . . 26

ADVANCED PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DESCRIPTION

GENERAL DESCRIPTION

The CLCI2000 Series Indexer is one of ANAHEIM AUTOMATION's Computer Indexer that generates clock and direction

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 axes, using only one computer slot found

in an IBM Compatible Computer. The Indexer was designed to produce pulse rates far above those offered by most

indexers. To run today's microstep drivers, faster pulse rates are needed. The 2.5MHz provided by this indexer will step

a 200 step/rev motor with a divisor of 256 at nearly 50 rps (or almost 3000 RPM). Since the Indexer is controlled by a

computer, very complex programs can be written to control the motion. This power is not available in other units.

The Computer Indexer contains up to 10 TTL inputs, and 10 Open Collector Outputs. It also has Limit Switch inputs

including ±Soft Limits, ±Home Limits, ±Hard Limits. Along with the inputs are Encoder Inputs, Channel A,B, and Z. The

1 and 2 axis boards bring out their signals on a 37 pin D-Sub connecter. The 3 and 4 axes units use 2, 37 pin D-Sub

connectors. A ribbon cable and mounting bracket is provided for the second connector.

MAIN FEATURES

‘ step rates to 2,500,000 steps/second

‘ 1, 2, 3 or 4 axes of motion control

‘ encoder feedback included for all 4 axes

‘ Encoder Mark Pulse input for precision stopping

‘ CW and CCW Soft, Home, and Hard limit inputs

‘ TTL-CMOS compatible inputs

‘ 5 testable inputs per two axes

‘ 5 programmable outputs per two axes

‘ uses true acceleration units of Steps/Sec*Sec

‘ standard 37 pin D-SUB connection

‘ uses one 8-bit computer slot

‘ 3rd & 4th axes includes cable and connector

‘ independent or coordinated control of all 4 axes

‘ use Anaheim Automation's QuickBASIC, VISUAL BASIC, C++ Libraries, or Windows DLL

‘ not speed dependant on the computer

‘ does not tie up the computers processor

‘ use CLCI2000 software for easy control for non-programmers

‘ up to 16,777,215 steps per index

‘ breakout terminal block kit

‘ independent or coordinated axis moves

PACKING INFORMATION

CLCI2001

1 CLCI2001 Computer Indexer

1 CLCI2000 SERIES DISK

1 #6 x 1/4 screw

1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers

CLCI2002

1 CLCI2002 Computer Indexer

1 CLCI2000 SERIES DISK

1 #6 x 1/4 screw

1 Users Manual for CLCI2000 Series 1 to 4 Axis Computer Indexers

CLCI2003

1 CLCI2003 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

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

ORDERING INFORMATION

1-AXIS Indexer Board

2-AXES Indexer Board

3-AXES Indexer Board

4-AXES Indexer Board

1-AXIS Driver Pack

CLCI2001

CLCI2002

CLCI2003

CLCI2004

DPI65201

2-AXIS Driver Pack

DPI65202

DB37,MF Cable, 6 feet

DB37,MF Cable, 10 feet

DB37,MM Cable, 6 feet

DB37,MM Cable, 10 feet

Terminal Breakout Board

AA37MFC-6

AA37MFC-10

AA37MMC-6

AA37MMC-10

AA2M37

ORDERING INFORMATION

CLCI2001

This is the part number for a 1-Axis Computer Indexer Board.

CLCI2002

This is the part number for a 2-Axis Computer Indexer Board.

CLCI2003

This is the part number for a 3-Axis Computer Indexer Board.

CLCI2004

This is the part number for a 4-Axis Computer Indexer Board.

DPI65201

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). The breakout terminal board provides all the connections to the Limit Switches and I/O from the DB37

connector. The Clock and Direction signals are internally connected to the driver.

DPI65202

This is the part number for a Dual Axis Driver Pack that is configured to interface with a CLCI2002. The Driver Pack

contains Anaheim Automation's 1.0 to 7.0 Amp drivers (AA2300Bs), 300 watt power supply, breakout terminal board, and

interface connector. To connect from the CLCI2002 to the Driver Pack, a 37 pin cable is needed (AA37MMC-6 or

AA37MMC-10). The breakout terminal board provides all the connections to the Limit Switches and I/O from the DB37

connector. The Clock and Direction signals are internally connected to the driver.

AA37MFC-6

This is a DB37 Cable with a male connector on one end and a female connector on the other. The cable is 6 feet long.

This cable should be used with the CLCI2000 Series Indexer and the AA2M37 Terminal Breakout Board.

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

This is a DB37 Cable with a male connector on both ends. The cable is 6 feet long. This cable should be used with the

CLCI2000 Series Indexer and the DPI65200 Series Driver Packs.

AA37MMC-10

This is a DB37 Cable with a male connector on both ends. The cable is 10 feet long. This cable should be used with

the CLCI2000 Series Indexer and the DPI65200 Series Driver Packs.

AA2M37

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

or AA37MFC-10.

SPECIFICATIONS

POWER REQUIREMENTS

5 VDC @ 500mA

BUS ARCHITECTURE

ISA Bus (PC/XT/AT/x86 Compatible)

INPUTS

Logic "0"

Logic "1"

0 to 0.8 VDC

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)

sink current 6mA (Vol=0.5V)

OUTPUT 1 - OUTPUT 10

Open-Collector Type

max individual sink current 500mA

total sink current 3.0A with 27% duty cycle

total sink current 2.4A with 35% duty cycle

total sink current 1.5A with 52% duty cycle

total sink current 0.8A with 100% duty cycle

Max Voltage 50V

+5 VDC OUTPUT

This is the computer's or backplane's power source; consult the appropriate manual for more information.

AMBIENT TEMPERATURE

0 to 50 degrees Celsius

SIZE

3.90 in. x 13.1 in.

INSTALLATION

INSTALLING THE BOARD

The Board Mounts into an IBM PC Compatible

Computer's 8 bit Expansion Slot. To install the

Board, line the back of the board up with the

card guide in the back of the computer. Gently

but firmly press the board into the Expansion

slot. Screw down the mounting bracket with the

screw provided. If the computer does not have

a card guide, be sure to secure the board in

some fashion so that it will not touch any other

boards or the metal case. The dimensions of

the board are shown to the right.

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). Another

solution is to buy the AA2M37 Breakout Terminal Board. This takes a 37 Pin D-sub connector and 'breaks out' those pins

into two strips of terminal blocks. Wires can then be inserted into the terminal blocks and can be connected to the Drivers

and any other necessary devices. Another way is to make up a cable by soldering wires into a 'solder cup' type 37 Pin

D-sub connector. The only wires that need to be connected are the wires being used.

ADDRESS SETTINGS

The Board will be sent from the factory with a HEX Base address setting of 300. This will be the setting necessary for

the CLCI2004 Software. The CLCISUB1.BAS AND CLCI2000.CPP

LIBRARY FILES will support any address. There is a 5 pin dip switch on the

CLCI2000 to select the base address. This will enable the user to select any

address between Hex 000 and Hex 3FF. The figure shown on the right is set

for Base Address Hex 300. In Binary, this setting would be described as

11000. The leftmost digit (or bit) pertains to switch number 1 on the 5 pin dip

switch. For a '1' setting, the switch should be 'OFF'. For a '0' setting, the

switch should be 'ON'. Below is a table for various Base Address Settings.

BASE

ADDRESS

DIP SWITCH

SETTING

BASE

ADDRESS

DIP SWITCH

SETTING

200

220

240

260

280

2A0

2C0

10000

10001

10010

10011

10100

10101

10110

10111

11000

11001

11010

11011

11100

11101

11110

11111

300*

320

340

360

380

3A0

3C0

3E0

2E0

*FACTORY SETTING

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.

Check the Driver for the appropriate voltage or current settings (whatever applies for specific driver/motor used).

Make sure that Power is OFF to the Driver, and connect the Step Motor to the Driver. Make sure the wires are

firmly connected.

Start QuickBASIC. (If you do not think that you have a copy of QuickBASIC - Microsoft shipped this with all

versions of DOS 5.0 and greater - look in your DOS Directory for QBASIC.EXE.)

Type ALT-F (hold the ALT Key down and type F)

Type B:\SAMPLE3.BAS (AND HIT ENTER 5 )

(it is assumed here that the disk is in drive B - if the disk was put somewhere else, enter the correct path)

Type ALT-R and choose RUN (hold the ALT Key down and type R, then use the arrow keys)

If all this was done successfully, the motor should turn 400 steps, pause for 1 second, and go 400 steps again.

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. This second connector will need a port location to screw down to. NOTE: This does not require

an extra expansion slot to plug into, but only a space to screw down the connector. The connectors are Female D-Sub

types. The pinouts for the first connector (axis A and B) is slightly different than the pinouts for the second connector

(Axis C and D).

DESCRIPTION

FUNCTION

DESCRIPTION

FUNCTION

+5VDC

OUT1

OUT2

OUT3

OUT4

OUT5

0VDC

IN1

5 VOLT DC OUTPUT

OUTPUT 1

A:HOME+

A:HOME-

A:HARD+

A:HARD-

0 VDC

A: + HOME LIMIT SWITCH

A: - HOME LIMIT SWITCH

A: + HARD LIMIT SWITCH

A: - HARD LIMIT SWITCH

O VOLT DC REFERENCE

B: CLOCK

OUTPUT 2

OUTPUT 3

OUTPUT 4

OUTPUT 5

B:CLOCK

B:DIR

0 VOLT DC

B: DIRECTION

INPUT 1

B:EA

B: ENCODER CHANNEL A

B: ENCODER CHANNEL B

B: ENCODER CHANNEL Z

B: + SOFT LIMIT SWITCH

B: - SOFT LIMIT SWITCH

B: + HOME LIMIT SWITCH

B: - HOME LIMIT SWITCH

B: + HARD LIMIT SWITCH

B: - HARD LIMIT SWITCH

O VOLT DC REFERENCE

NO CONNECTION

IN2

INPUT 2

B:EB

IN3

INPUT 3

B:EZ

IN4

INPUT 4

B:SOFT+

B:SOFT-

B:HOME+

B:HOME-

B:HARD+

B:HARD-

0 VDC

IN5

INPUT 5

A:CLOCK

A:DIR

A:EA

A: CLOCK

A: DIRECTION

A: ENCODER CH. A

A: ENCODER CH. B

A: ENCODER CH. Z

A: + SOFT LIMIT SWITCH

A: - SOFT LIMIT SWITCH

A:EB

A:EZ

A:SOFT+

A:SOFT-

DB37 PINOUT FOR AXES A & B

+5VDC

This is the +5VDC supplied by the computers power supply. See your Computer Manual for the specifications regarding

this pin.

CLOCK SIGNALS

This is the signal that will be connected to the Step Motor Driver. The driver will take one step for every clock pulse sent

to it. For instance, if a pulse train of 1000 pulses is sent at 50 Hz (50 clock pulses per second) to the driver the step

motor will go 1000 steps, and will take 20 seconds. The output clock 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 clock signals are negative going.

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. This input contains a 2.5K pullup resistor to +5VDC.

It should be activated by connecting it to the 0VDC pin, or a logic level that can sink 2.0mA at TTL levels.

HOME LIMIT

This is similar to the Hard Limit. It will cause the motor to stop without ramping down. This input contains a 2.5K pullup

resistor to +5VDC. It should be activated by connecting it to the 0VDC pin, or a logic level that can sink 2.0mA at TTL

levels. See the Command Dictionary Section for more information.

DESCRIPTION

FUNCTION

DESCRIPTION

FUNCTION

+5VDC

OUT6

OUT7

OUT8

OUT9

OUT10

0VDC

IN6

5 VOLT DC OUTPUT

OUTPUT 6

C:SOFT-

C:HOME+

C:HOME-

C:HARD+

C:HARD-

0 VDC

C: - SOFT LIMIT SWITCH

C: + HOME LIMIT SWITCH

C: - HOME LIMIT SWITCH

C: + HARD LIMIT SWITCH

C: - HARD LIMIT SWITCH

O VOLT DC REFERENCE

D: CLOCK

OUTPUT 7

OUTPUT 8

OUTPUT 9

OUTPUT 10

0 VOLT DC

D:CLOCK

D:DIR

INPUT 6

D: DIRECTION

IN7

INPUT 7

D:EA

D: ENCODER CHANNEL A

D: ENCODER CHANNEL B

D: ENCODER CHANNEL Z

D: + SOFT LIMIT SWITCH

D: - SOFT LIMIT SWITCH

D: + HOME LIMIT SWITCH

D: - HOME LIMIT SWITCH

D: + HARD LIMIT SWITCH

D: - HARD LIMIT SWITCH

0 VOLT DC REFERENCE

IN8

INPUT 8

D:EB

IN9

INPUT 9

D:EZ

IN10

INPUT 10

D:SOFT+

D:SOFT-

D:HOME+

D:HOME-

D:HARD+

D:HARD-

0 VDC

C:CLOCK

C:DIR

C:EA

C: CLOCK

C: DIRECTION

C: ENCODER CH. A

C: ENCODER CH. B

C: ENCODER CH. Z

C: + SOFT LIMIT SWITCH

NO CONNECTION

C:EB

C:EZ

C:SOFT+

DB37 PINOUT FOR AXES C & D

HARD LIMIT

When a hard limit switch is encountered, all motion will stop in the given direction. Keep in mind that the motor may

overshoot when this is used. The position given by the position register may not reflect where the motor ended up

stopping due to the overshoot. If an encoder is used, the encoder will reflect the actual motor position. This input

contains a 2.5K pullup resistor to +5VDC. It should be activated by connecting it to the 0VDC pin, or a logic level that

can sink 2.0mA at TTL levels.

ENCODER INPUTS

A Rotary Encoder is a device that measures rotation of a shaft. The encoder can be mounted on the step motor shaft,

or for even greater accuracy, it can be mounted 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 motor position. The encoder has four or five

wires: Power, Ground, Phase A, Phase B, and a Marker Pulse . The encoder can be used to form a closed loop system

which will ensure the motor position. 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.

INPUTS

These are general purpose inputs that can be used to integrate sensors, logic, switches, or a number of other things that

will be used in coordinating the motion. They may be used to initiate a machine cycle, or allow for operator intervention,

for sensing a machine condition such as 'out of material', or to wait for a particular temperature to be reached. These

inputs contain 2.5K pullups resistor to +5VDC, and are activated when they reach a TTL/CMOS Low Level, or 0VDC.

OUTPUTS

These are Open-Collector Darlington type outputs. They may be used to operate coolant valves, air cylinders, relays,

solenoids, external logic, or, with the right interfacing, any electrically controlled device. The Outputs will go to the 0.7

VDC level, and can sink a total of 500mA. The Maximum Voltage that can be applied to the Outputs is 50 VDC. (See

Specification Section on page 3 for more information.)

PROGRAMMING WITH ANAHEIM AUTOMATION LIBRARIES

Anaheim Automation has written Libraries that can be used to control the CLCI2000 Series Indexer Board in many

different languages. These languages include QuickBASIC, VisualBasic, C, and any Windows programming language.

There are two different libraries written for the 'BASIC' languages, one library for the 'C' users, and one library for the

windows users (this Windows Library must be requested). The Libraries contain all the code necessary to control the

motion with the Indexer Board.

PROGRAMMING WITH QUICKBASIC OR VISUALBASIC FOR DOS

Programming the CLCI2000 Using Quick Basic is very easy. A Library with various Subroutines and Functions has been

written to make the process of controlling your Step Motor Driver as painless as possible. ANAHEIM AUTOMATION's

Subroutine and Function Library CLCISUB1.BAS is found on the CLCI2000 SERIES DISK. To use this library in

QuickBASIC, go to the Menu Selection File, and Choose Load File. To use this library in VISUAL BASIC go to the Menu

Selection File, and Choose Add File. Be sure to have the file in the appropriate location. When you use one of the

Subroutines or Functions, be sure to 'DECLARE' that Sub or Function. You may want to copy all of the DECLARE

statements from the top of the CLCISUB1.BAS programs to the top of your Program. Refer to your QuickBASIC

technical manual for further explanations.

The way to program a move in QuickBASIC is as simple as this.

Lets say you would like these (motion) parameters.

Base Speed: 400 steps/sec

Max Speed: 5,000 steps/sec

Ramp: 200,000 steps/sec^2

To move 1000 steps in the clockwise direction, the code for this in QuickBASIC would be:

MOTION ADR, AXIS, 400, 5000, 200000

INDEX ADR, AXIS, 1000

GO.CW ADR, AXIS

That is all there is to it. Using English-Like commands, you can easily control your step motors.

SPEED CONSIDERATIONS

The time that it takes to process a command is sometimes very critical to a design. The majority of the time involved

in communication to the CLCI2000 Series Indexer is due to the time the programming language takes to communicate

with the PC expansion bus. Some languages are faster than others. For example, code written in Microsoft QuickBASIC

will run slower than that same code written in Microsoft C.

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. The same code was run after it was compiled, and it took only 153usec. To Set

the Position under these same conditions, it took 341usec uncompiled, and 269usec compiled.

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. To use these commands you need to LOAD the file

CLCISUB1.BAS into your main program and DECLARE the Subroutines and Functions you wish to use. That is all there

is to it. Refer to your QuickBASIC or VisualBasic manual for more details.

In all the below descriptions, these general guidelines apply:

The ADDRESS is the setting on the 5 pin dip switch (see Installation). This is always given in the Hexadecimal format.

For a setting of 11000, or a Base Address of 300, the correct format would be (&H300, ...)

The AXIS# applies to the axis for that particular board (1, 2, 3, or 4)

BUSY (ADDRESS, AXIS#)

This Function will return a 1 if the axis is Busy (clock pulses are being generated). It will return a 0 if there is no motion

at all. This is a good Input to use to wait until the motion has stopped before going on in the program.

GET.BASE (BASE, MAX, RAMP)

Because the motor speeds are created by a digital device, the resolution is limited to the clock oscillator that is used -

in this case it is 9.8304 MHz. The result is a speed that is very close to the one desired - usually within a fraction of a

percent. This Function will return the actual Base Speed obtainable with the given parameters. This is used to find out

the exact Base Speed that will be used for the specified numbers. For example, if the desired Base Speed was 500,

Max Speed was 10,000, and Ramp was 2,000, the resulting Base Speed would actually be: 499.7963 Hz.

GET.MAX (BASE, MAX, RAMP)

Because the motor speeds are created by a digital device, the resolution is limited to the clock oscillator that is used -

in this case it is 9.8304 MHz. The result is a speed that is very close to the one desired - usually within a fraction of a

percent. This Function will return the actual Max Speed obtainable with the given parameters. This is used to find out

the exact Max Speed that will be used for the specified numbers. For example, if the desired Base Speed was 500, Max

Speed was 10,000, and Ramp was 2,000, the resulting Base Speed would actually be: 9999.593 Hz.

GET.RAMP (BASE, MAX, RAMP)

Because the motor speeds are created by a digital device, the resolution is limited to the clock oscillator that is used -

in this case it is 9.8304 MHz. The result is a Ramp that is very close to the one desired - usually within a fraction of a

percent. This Function will return the actual Ramp obtainable with the given parameters. This is used to find out the

exact Ramp that will be used for the specified numbers. For example, if the desired Base Speed was 500, Max Speed

was 10,000, and Ramp was 2,000, the resulting Ramp would actually be: 2000.784 Hz/Second.

GET.INPUT (ADDRESS, INPUT#)

This Function will return the values for INPUT 1. A '1' means that the input is active, or at a TTL state of 0VDC. A '0'

means that the input is at a TTL state of +5VDC or there is no connection to the input.

GO.CCW ADDRESS, AXIS#

This Subroutine will Index in the counterclockwise direction. The distance that the motor will move depends on the

distance set by the A.INDEX.NUMBER command. The motion starts at Base Speed and Ramps up to Max Speed,

sustains the Max Speed, and then finishes the move by ramping down to Base Speed and stopping.

GO.CW ADDRESS, AXIS#

This Subroutine will Index in the clockwise direction. The distance that the motor will move depends on the distance set

by the A.INDEX.NUMBER command. The motion starts at Base Speed and Ramps up to Max Speed, sustains the Max

Speed, and then finishes the move by ramping down to Base Speed and stopping.

HARD.INPUT.CCW (ADDRESS, AXIS#)

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.

HARD.INPUT.CW (ADDRESS, AXIS#)

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. The motion begins

at Base Speed, ramps up to Max Speed and continues moving in that direction until the software instructs it to do

something different, or a hardware Limit Switch is activated.

HOME.CW ADDRESS, AXIS#

This Subroutine will HOME (sometimes call SLEW) the motor in the clockwise direction. The motion begins at Base

Speed, ramps up to Max Speed and continues moving in that direction until the software instructs it to do something

different, or a hardware Limit Switch is activated.

HOME.INPUT ADDRESS, AXIS#

This Function will return the value for the Home Limit Switch. The Particular switch is determined by which Home Limit

Switch you chose with the OUTPUTS Subroutine. The default value for this is the -Home Limit Switch. This will return

a 1 if the Home Limit Switch is 'active' (0VDC), and a 0 if the switch is not active.

INDEX ADDRESS, AXIS#, NUMBER

This Subroutine will set the Index Number Register. This command is used in conjunction with the GO.CW and GO.CCW

Command. The number in this register will not change until the next INDEX or POSITION Command is issued. A

typical motor that is Half-stepped will go one revolution in 400 steps.

INITIALIZE ADDRESS, AXIS#

This Subroutine will set the all axes with initial settings. This must be done at the beginning of every program to ensure

that all the default setting are made, and that all the outputs are off. The commands below are executed for each axis:

INDEX 1000

MOTION 200, 4000, 200000

LIMIT.CONTROL 1, 1, 1

SET.ENCODER 0

OUTPUT 0, 0, 0, 0, 0, 1, 1

LIMIT.CONTROL ADDRESS, AXIS#, SOFT, MARK, HOME

This Subroutine will either Activate or Deactivate the board features: SOFT LIMIT SWITCHES, ENCODER MARKER

PULSE, OR HOME LIMIT SWITCH. A 1 will activate the feature, and a 0 will deactivate the feature. This command

is useful for Homing Routines and other routines that are used to ramp down to base speed or to stop the motor. The

Marker pulse is generally turned off until the rotary system is on the correct revolution to activate the pulse.

MOTION ADDRESS, AXIS#, BASE, MAX, RAMP

This Subroutine will set the Base Speed, Max Speeds, and Acceleration. All three values must be entered. The Base

Speed is the speed at which the motor starts it's motion. For Half-step applications, motors can sometimes start as high

as 2,000 Hz. A Half-step speed of 400 will turn 1 revolution per second. It is normally desirable to start the motor as fast

as possible. This will decrease the total time it takes to make the move. The Max Speed is the speed at which the motor

will reach it's top speed. For Half-step applications, motors can handle speeds as high as 20,000 Hz. A Max Speed of

20,000 will turn the motor 50 revolutions per second. The Ramp time is the rate or increase in the speed when the

motion is going from Base Speed to Max Speed. This value is in Hz/Sec*Sec. A ramp value of 1,000 will increase the

speed 1,000 Hz every second.

ONE.AT.MAX.CCW ADDRESS, AXIS#

This Subroutine will go one step at the maximum speed in the CCW Direction. This is an easy way to 'Jog' the motor.

ONE.AT.MAX.CW ADDRESS, AXIS#

This Subroutine will go one step at the maximum speed in the CW Direction. This is an easy way to 'Jog' the motor.

ORIGIN.INDEX.CCW ADDRESS, AXIS#

This Subroutine will move in the CCW 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 'home' the motor to a rotary position using the encoder's

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. This is a good way to 'home' the motor to a rotary position using the encoder's

marker pulse. The marker pulse must be enabled by the LIMIT.CONTROL Command for this Command to work

properly.

POSITION ADDRESS, AXIS#, VALUE

This Subroutine will go to the position specified. This routine reads the current position and calculates the distance

required to move. It affects the Index Register which is changed by the A.INDEX Command. The Position can range

from 0 to 16,777,215. Negative numbers cannot be used with this command. Be sure to stay within the specified range.

RAMP.TO.BASE.CCW ADDRESS, AXIS#

This Subroutine will ramp the motor from Max Speed to Base Speed. The move will be continued at Base Speed. This

is a useful command for Homing to a Limit Switch.

RAMP.TO.BASE.CW ADDRESS, AXIS#

This Subroutine will ramp the motor from Max Speed to Base Speed. The move will be continued at Base Speed. This

is a useful command for Homing to a Limit Switch.

RAMP.TO.STOP.CCW ADDRESS, AXIS#

This Subroutine will ramp the motor from Max Speed to Base Speed and stop. Be sure to use this command only when

the motor is turning in the CCW direction.

RAMP.TO.STOP.CW ADDRESS, AXIS#

This Subroutine will ramp the motor from Max Speed to Base Speed and stop. Be sure to use this command only when

the motor is turning in the CW direction.

READ.ENCODER (ADDRESS, AXIS#)

This Function will read the value in the Encoder Register. The Encoder Register can read a value up to 16,777,215.

If the number goes beyond this number, the Register will 'spill over' and start back again at 0. For example, the if the

encoder sent out 16,777,226 quadrature pulses, the Encoder Register would actually read 10. This register can be read

at any time.

READ.POSITION (ADDRESS, AXIS#)

This Function will return the Value in the Position Register. The Position Register can read a value up to 16,777,215.

If the number goes beyond this number, the Register will 'spill over' and start back again at 0. For example, the if the

number of steps was actually 16,777,226 - the Position Register would actually read 10. This register can be read at any

time.

SET.ENCODER ADDRESS, AXIS#, VALUE

This Subroutine will set the number in the Encoder Register. The values should range between 0 and 16,777,215.

SET.OUTPUT1 ADDRESS, OUT5, OUT4, OUT3, OUT2, OUT1, HOME.DIR.1, HOME.DIR.2

This Subroutine will set the 5 outputs and the active direction for the Home Limit Switch. The first five numbers specify

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.1 refers to AXIS 1 (also called axis A),

and HOME.DIR.2 refers to AXIS 2 (Also refered to as Axis B). Only one home switch may be chosen for each axis at

a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be chosen. A '0' will specify that the

'-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET.OUTPUT.1 1,1,1,0,0,1,1

would set outputs 5,4, and 3 ON, and outputs 2 and 1 Off. It would also set the +Home Limit Switch for both axis 1 and

2 to be the Active Switch.

SET.OUTPUT2 ADDRESS, OUT10, OUT9, OUT8, OUT7, OUT6, HOME.DIR.3, HOME.DIR.4

This Subroutine will set the 5 outputs and the active direction for the Home Limit Switch. The first five numbers specify

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). Only one home switch may be chosen for each axis at

a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be chosen. A '0' will specify that the

'-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET.OUTPUT.2 1,1,1,0,0,1,1

would set outputs 5,4, and 3 ON (at a 0 VDC level), and outputs 2 and 1 Off (at an OPEN level). It would also set the

+Home Limit Switch for both axis 3 and 4 to be the Active Switch.

SET.POSITION ADDRESS, AXIS#, VALUE

This Subroutine will set the number in the Position Register. The values should range between 0 and 16,777,215.

SLEW.AT.BASE.CCW (ADDRESS, AXIS#)

This Subroutine will SLEW the motor at Base Speed in the counterclockwise direction and continues moving in that

direction until the software instructs it to do something different, or a hardware Limit Switch is activated.

SLEW.AT.BASE.CW (ADDRESS, AXIS#)

This Subroutine will SLEW the motor at Base Speed in the clockwise direction and continues moving in that direction

until the software instructs it to do something different, or a hardware Limit Switch is activated.

SOFT.INPUT.CCW (ADDRESS, AXIS#)

This Function 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.

SOFT.INPUT.CW (ADDRESS, AXIS#)

This Function 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.

STOP.MOTION ADDRESS, AXIS#

This Subroutine will immediately stop the pulses.

WAIT.FOR.STOP (ADDRESS, AXIS#)

This Subroutine will pause the execution of the program until the Axis has completed its motion.

NOTE: THERE ARE OTHER SUBROUTINES AND FUNCTIONS THAT ARE CONTAINED IN THIS FILE THAT

SHOULD NOT BE USED OR MODIFIED IN ANY WAY - THEY ARE USED INTERNALLY BY THE ABOVE

SUBROUTINES AND FUNCTIONS, AND ANY ALTERATION MIGHT PRODUCE UNEXPECTED RESULTS.

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 QUICKBASIC OR 'VISUALBASIC USING CLCISUB1.BAS

DECLARE ()...

'this representation is for all the declare statements

ADDR = &H300

AXIS = 1

'sets up the variable for the board address

'sets up the variable for axis 1

INITIALIZE ADDR,AXIS

'initializes axis1

MOTION ADDR,AXIS,500,10000,230000

TOP.OF.LOOP:

'sets up the base speed, max

'speed, and ramp values

IF GET.INPUT(ADDR,1) = 1 THEN

INDEX ADDR,AXIS,5000

GO.CW ADDR,AXIS

'looks at input #1

'sets up the index number

'indexes the motor

WAIT.FOR.STOP ADDR,AXIS

END IF

'waits until the motor has stopped

IF GET.INPUT.2 = 1 THEN

INDEX ADDR,AXIS,4000

GO.CCW ADDR,AXIS

WAIT.FOR.STOP ADDR,AXIS

END IF

'looks at input #2

'sets up the index number

'indexes the motor

'waits until the motor has stopped

GOTO TOP.OF.LOOP

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 only 1 switch - when the switch is

activated the motor will ramp down to base speed, the mechanics need to be made in such a way that the switch

will be deactivated when it reaches base speed. When base speed is reached, the motor will reverse direction

and will stop once the switch is activated once again.

'PROGRAM FOR QUICKBASIC OR 'VISUALBASIC USING CLCISUB1.BAS

DECLARE ()...

'this representation is for all the declare statements

ADDR = &H300

AXIS = 1

'sets up the variable for the board address

'sets up the variable for axis 1

'initializes axis 1

INITIALIZE ADDR, AXIS

MOTION ADDR, AXIS, 500, 10000, 23000 'sets up the base speed, max speed, and acceleration

HOME.TYPE.1:

'home type 1 requires the switch to be activated and then deactivated (passed)

'while decelerating. The motor will then stop and reverse direction. When the

'switch is then activated, the motor will stop.

LIMIT.CONTROL ADDR, AXIS, 0, 0, 0

'soft is not active, mark is not active, home is not active

SET.OUTPUT1 ADDR, 0, 0, 0, 0, 0, 1, 0 'sets the HOME.DIR.1 to CW and all outputs off

IF HOME.INPUT(ADDR, AXIS) = 1 THEN END 'if we are already on the limit switch

HOME.CW ADDR, AXIS

WHILE HOME.INPUT(ADDR, AXIS) = 0

WEND

'this will home the motor in the CW direction

RAMP.TO.STOP.CW ADDR, AXIS

WAIT.FOR.STOP ADDR, AXIS

LIMIT.CONTROL ADDR, AXIS, 0, 0, 1

SLEW.AT.BASE.CCW ADDR, AXIS

WHILE BUSY(ADDR, AXIS) = 1

WEND

'soft is not active, mark is not active, home is active

'soft is not active, mark is not active, home is not active

LIMIT.CONTROL ADDR, AXIS, 0, 0, 0

RETURN

HOME.TYPE.0:

'home type 0 requires two switches - a soft limit switch, and a home limit

'switch. When the soft limit switch is activated, the software will ramp

'the motor down to base speed. The motor will continue traveling until the

'home limit switch is activated.

LIMIT.CONTROL ADDR, AXIS, 0, 0, 1

'soft is not active, mark is not active, home is active

SET.OUTPUT1 ADDR, 0, 0, 0, 0, 0, 1, 0 'sets the HOME.DIR.1 to CW and all outputs off

HOME.CW ADDR, AXIS

'this will home the motor in the CW direction

WHILE SOFT.INPUT.CW(ADDR, AXIS) = 0

WEND

RAMP.TO.BASE.CW ADDR, AXIS

END

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. The following is a command list for all the usable Functions in this Library. This is a comprehensive list

that will allow complete control of the CLCI2000 Series Index Boards. Refer to your programming manual for information

on how to load this Library.

In all the below descriptions, these general guidelines apply:

The ADDRESS is the setting on the 5 pin dip switch (see Installation). This is always given in the Hexadecimal format.

For a setting of 11000, or a Base Address of 300, the correct format would be (0x300, ...)

The AXIS applies to the axis for that particular board (1, 2, 3, or 4)

BUSY (ADDRESS, AXIS)

This will return a 1 if the axis is Busy (clock pulses are being generated).

GET_INPUT (ADDRESS, INPUT#)

This will return the value for the Specified input number 1 through 10. A return of a 1 will specify that the input is active

(0VDC), and a 0 will specify that the input is not active (an open circuit).

GO_CCW (ADDRESS, AXIS)

This will Index in the clockwise direction.

GO_CW (ADDRESS, AXIS)

This will Index in the counterclockwise direction.

HARD_INPUT_CCW (ADDRESS, AXIS)

This 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.

HARD_INPUT_CW (ADDRESS, AXIS)

This 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 will HOME (sometimes called SLEW) the motor in the counterclockwise direction.

HOME_CW (ADDRESS, AXIS)

This will HOME (sometimes call SLEW) the motor in the clockwise direction.

HOME_INPUT (ADDRESS, AXIS)

This will return the value of the +Home Limit or -Home Lime (determined by the LIMIT_CONTROL). If the Limit Switch

is Active, the function will return a 1. If the Limit Switch is NOT ACTIVE, the function will return a 0.

INDEX (ADDRESS, AXIS, NUMBER)

This will set the Index Number Register.

INITIALIZE (ADDRESS, AXIS)

This will set the axis with initial settings. This must be done at the beginning of every program to ensure that the all the

default setting are made.

LIMIT_CONTROL (ADDRESS, AXIS, SOFT, MARK, HOME)

This will either Activate or Deactivate the board features: SOFT LIMIT SWITCHES, ENCODER MARKER PULSE, OR

HOME LIMIT SWITCH. A 1 will activate the feature, and a 0 will deactivate the feature.

MOTION (ADDRESS, AXIS, BASE, MAX, RAMP)

This will set the Base Speed, Max Speeds, and Acceleration. All three values must be entered.

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.

POSITION (ADDRESS, AXIS, VALUE)

This will go to the position specified.

RAMP_TO_BASE_CCW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed.

RAMP_TO_BASE_CW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed.

RAMP_TO_STOP_CCW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed and stop.

RAMP_TO_STOP_CW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed and stop.

READ_ENCODER (ADDRESS, AXIS)

This will read the value in the encoder register.

READ_POSITION (ADDRESS, AXIS)

This will return the Value in the Position Register.

SET_ENCODER (ADDRESS, AXIS, VALUE)

This will set the number in the Encoder Register. The values should range between 0 and 16777215.

SET_OUTPUT1 (ADDRESS, OUT5, OUT4, OUT3, OUT2, OUT1, HOME.DIR.1, HOME.DIR.2)

This will set the 5 outputs and the active direction for the Home Limit Switch. The five numbers specify 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 direction for the home switch (+ or -) will be chosen. Only one direction for the home switch

may be chosen for each axis at a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be

chosen. A '0' will specify that the '-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET_OUTPUT1 &H300,1,1,1,0,0,1,1

would set outputs 5,4, and 3 ON, and outputs 2 and 1 Off. It would also set the +Home Limit Switch for both axis 1 and

2 to be the Active Switch.

SET_OUTPUT2 (ADDRESS, OUT10, OUT9, OUT8, OUT7, OUT6, HOME.DIR.1, HOME.DIR.2)

This will set the 5 outputs and the active direction for the Home Limit Switch. The five numbers specify 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 direction for the home switch (+ or -) will be chosen. Only one direction for the home switch

may be chosen for each axis at a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be

chosen. A '0' will specify that the '-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET_OUTPUT2 &H300,1,1,0,1,0,0,0,1

would set outputs 5 and 3 ON, and outputs 4,2 and 1 Off. It would also set the +Home Limit Switch for axis 3 and the

-Home Limit Switch for Axis 4.

SET_POSITION (ADDRESS, AXIS, VALUE)

This will set the number in the Position Register.

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.

SOFT_INPUT_CW (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.

STOP (ADDRESS, AXIS)

This will immediately stop the pulses.

WAIT_FOR_STOP (ADDRESS, AXIS)

This will pause the execution of the program until the Axis has completed its motion.

NOTE: THERE ARE OTHER FUNCTIONS THAT ARE CONTAINED IN THIS FILE THAT SHOULD NOT BE USED

OR MODIFIED IN ANY WAY - THEY ARE USED INTERNALLY BY THE ABOVE FUNCTIONS, AND ANY

ALTERATION MIGHT PRODUCE UNEXPECTED RESULTS.

SAMPLE PROGRAM #3

This program will move a distance of 400 steps in the clockwise direction, with a base speed of 100 steps/second

and a Max Speed of 2000 steps/second. The ramping for both acceleration and deceleration would be 100,000

steps/second/second.

//PROGRAM FOR BORLAND C++

#include CLCISUBS.CPP

void main ( )

{

int address = 0x300;

int axis = 1;

'this sets up the correct address

'this sets up the axis number

INITIALIZE (address, axis);

MOTION (address, axis, 100, 2000, 100000);

INDEX (address, axis, 400);

'this initializes the board

'this sets up the motion

'this sets up the distance to move

'this initiates the move

GO_CW (address, axis);

}

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. This DLL has been

extensively tested on Visual Basic for Windows, and can also be used for other Software Languages that can use a

Dynamic Link Library.

USING THE DLL WITH VISUAL BASIC FOR WINDOWS

The process of loading the DLL into the main application is very simple. This process will be described in this section.

The first step is to choose a new project. This can be done by choosing FILE, New Project.

The next step is to add the declaration file WIN2000.BAS. To do this, choose, FILE, Add File. The correct directory

should be put in for the position of WIN2000.BAS. It is recommended to copy the WIN2000.BAS file into the directory

C:\VB (the file WIN2000.DLL should also be in this directory). Once the file is selected, click OK and the file will be

added to the Project. The project window (Window, Project) can be chosen to verify that this file has been added. This

is all that needs to be done with the WIN2000.BAS file. No modifications to this file are necessary from this point on.

The file should never be modified for any reason.

The final step is to write the code. An example of this would be to create a Command Button. the code in the form would

be:

Object: Command1

Sub Command1_Click ()

Dim a As Integer

Procedure: Click.

a = INITIALIZE(&H300, 1)

a = INDEX(&H300, 1, 400)

a = GO_CW (&H300, 1)

End Sub

When the Command Button is Clicked, the Motor will index 400 steps. All the other commands can be used in this same

manner.

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" (ByVal address%, ByVal axis%) As Integer

Declare Function GET_INPUT Lib "win2000.dll" (ByVal address%, ByVal input_number%) As Integer

Declare Function GET_LO_MID_HI Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal setting&) As Integer

Declare Function GO_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function GO_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HALT Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HARD_INPUT_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HARD_INPUT_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HOME_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HOME_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function HOME_INPUT Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function INDEX Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal setting&) As Integer

Declare Function INITIALIZE Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function LIMIT_CONTROL Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal soft%, ByVal marker%,

ByVal home%) As Integer

Declare Function MOTION Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal basespeed&, ByVal maxspeed&,

ByVal rampvalue&) As Integer

Declare Function ONE_AT_MAX_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function ONE_AT_MAX_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function ORIGIN_INDEX_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function ORIGIN_INDEX_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function POSITION Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal setting&) As Integer

Declare Function RAMP_TO_BASE_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function RAMP_TO_BASE_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function RAMP_TO_STOP_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function RAMP_TO_STOP_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function READ_ENCODER Lib "win2000.dll" (ByVal address%, ByVal axis%) As Long

Declare Function READ_POSITION Lib "win2000.dll" (ByVal address%, ByVal axis%) As Long

Declare Function SET_ENCODER Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal setting&) As Integer

Declare Function SET_OUTPUT_1 Lib "win2000.dll" (ByVal address%, ByVal out5%, ByVal out4%, ByVal out3%, ByVal

out2%, ByVal out1%, ByVal a_home_dir%, ByVal b_home_dir%) As Integer

Declare Function SET_OUTPUT_2 Lib "win2000.dll" (ByVal address%, ByVal out10%, ByVal out9%, ByVal out8%, ByVal

out7%, ByVal out6%, ByVal c_home_dir%, ByVal d_home_dir%) As Integer

Declare Function SET_POSITION Lib "win2000.dll" (ByVal address%, ByVal axis%, ByVal setting&) As Integer

Declare Function SLEW_AT_BASE_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function SLEW_AT_BASE_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function SOFT_INPUT_CCW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function SOFT_INPUT_CW Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

Declare Function WAIT_FOR_STOP Lib "win2000.dll" (ByVal address%, ByVal axis%) As Integer

CLCI2004 PROGRAM GENERATOR

The CLCI2000 Series Indexers can be easily controlled by using the CLCI2004 Software. This software has been written

to enable non programmers to easily control the indexer. The CLCI2004 Software has the capabilities to write programs

using the user-friendly editor. The Software will allow control of all 4 axes of motion. If motion of the step motors needs

to be combined with other computer boards or computer software there are no problems using ANAHEIM

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.

The Main Screen of the software is broken up into 3 windows - The Program Window in the upper left had corner, the

Function Window in the lower left hand corner, and the Command Window on the right side of the Screen. On the left

hand side of the screen, the current programming line is also displayed along with the MODE that the program is currently

in.

The Program Window will show 10 lines of the program at a time. When a line is added to the program, it will appear

in this window. The Function Window allows the user to do various things in conjunction with the 'Function Keys' on the

keyboard. There is an OPTION MENU that can be selected by typing the function key F7. This will bring up the Option

Menu which contains additional commands. Typing F7 again will return back to the original Function Window. The

Command Window contains all the commands that will be used to program with. This window was made available to

help the user to write programs.

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

*+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

**1 NUM 400

**2 BASE 50

**3 MAX 500

NUMBER OF STEPS 400

BASE SPEED 50

*+ CW MOTION

*- CCW MOTION

*G GO (INDEX)

*H HOME

MAX SPEED 500

**4 RAMP 1000 RAMP OF 1000

**5 DIR+

**6 GO

**7 BASE 1000 BASE SPEED 1000

**8 MAX 20000 MAX SPEED 20000

**9 RAMP 200000 RAMP OF 200000

**10 DIR-

*. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

* LINE 3

* MAIN MODE

CW DIRECTION

INDEX

*P INDEX TO POSITION *

*I IF INPUTS THEN... *

*L LOOP TO X,Y TIMES *

*O SET OUTPUTS TO

*J JUMP TO LINE

CCW

*U UNTIL

*Q QUIT

*T UNITS/SCALE

*S SET POSITION

*W WAIT X SECONDS

*+) ) ) ) ) ) ) ) ) ) ) 0) ) ) ) ) ) ) ) ) ) ) ) 0) ) ) ) ) ) ) ) ) ) ) ) ,

** F1 INSERT * F4 TERMINAL* F7 MORE

*C CHANGE MENU

** F2 ADD

* F5 SAVE

* F8 PROG RUN*

* F9 QUIT

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

** F3 DELETE * F6 LOAD

*. ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) -

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

RUNNING THE SOFTWARE

The CLCI2000 was shipped with Anaheim Automation's CLCI2000 SERIES DISK. This disk contains the software

libraries that are needed to control the CLCI2000 Series indexers. Choose the CLCI2000 Software by typing

CLCI2004.EXE at the prompt. A screen similar to what is shown above should appear on your computer monitor with

sample program Sample1 loaded.

THE FUNCTION WINDOW

The Function window is located in the lower left hand corner. This window shows the commands that execute many

functions, including Editing a program, Running a program, Saving and Loading program, and much more. The F7 key

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

* F2 ADD

* F4 TERMINAL

* F5 SAVE

* F7 MORE

* F8 PROG RUN

* F9 QUIT

* F3 DELETE

* F6 LOAD

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 0) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 0) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

* F1 PROG STOP * F4 PRINT

* F2 SINGLE STEP*

* F7 MORE

* F9 QUIT

* F3 CLEAR PROG *

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 2) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

F1 - INSERT

To insert a line into the body of the program, move the Highlighted Line to just below where the inserted information is

to be placed. Type F1 and a new line will be opened up showing were the line will be entered. Enter as many lines of

information as needed. To get out of this mode, type either Enter or Escape.

F2 - ADD

To add lines to the end of a program, type F2. This will go into ADD MODE. Enter as many lines of information as

needed. To get out of ADD MODE, hit the Enter Key or Escape Key.

F3 - DELETE

To delete a line, place the Current Line (or Highlighted Line) on the line that is to be deleted. Press the F3 Key and the

line will be deleted and the program will be readjusted.

F4- TERMINAL

This Mode allows the user to directly control the motion of all axes. The TERMINAL MODE screen has a section for

information on each axis. The command list that is available in terminal mode is contained in a window on the right hand

side.

F5 SAVE

To Save a File on Disk, type F5. This will go to a screen listing all the Files in the Directory the Software is running in.

Enter the name for the Program you wish to Save. There is no need to include the .CL2 extension, the Software will

include this when it saves the file.

F6 LOAD

To Load a File on Disk, type F6. This will go to a screen listing all the Files in the Directory the Software is running in.

Enter the name of the Program you wish to Load. The .CL2 extension is not necessary.

F7- MORE

Typing the key F7 will cause the Function Window to toggle for more commands.

F8- PROG RUN

To Run a program, type F8. This will execute the program at line 1 until a quit command is reached.

F9 - QUIT

Type the F9 key to Exit the Software. Be sure to save the program before exiting the program.

By Pressing the F7 key, these commands will be available.

F1 - PROG STOP

Type the F1 Key to stop 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 to check the program for any mistakes.

F3 - CLEAR PROGRAM

Type the F3 Key to clear the current program.

F4 - PRINTING A PROGRAM

Type the F4 Key to print the current program to a printer. The software will select LPT1 for the printing.

F7 - MORE

Typing the key F7 will cause the Function Window to toggle to the original command window.

F9 - QUIT

Type the F9 key to Exit the Software. Be sure to save the program before exiting the program. The software command

will ask if you are sure you want to quit.

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.

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

*1 AXIS A

AXIS A IS ACTIVATED

NUMBER OF STEPS 400

BASE SPEED 50

*2 NUM 400

*3 BASE 50

*4 MAX 500

MAX SPEED 500

*5 RAMP 1000 RAMP OF 1000

*6 DIR+

*7 FIN

*8 GO

CW DIRECTION

FINISH THE MOVE

INDEX

*9 BASE 1000 BASE SPEED 1000

*10 MAX 20000 MAX SPEED 20000

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

The first column is the program line numbers. Up to 1000 line programs can be entered. The second column shows the

command. The third and fourth columns show the values for the commands. The fifth and final column is the description

section. This is an area that can be used to write notes that make the program easier to read.

ENTERING A PROGRAM

To enter lines in a program, type F1 for INSERT or F2 for ADD. The lower FUNCTION WINDOW will blank out and the

Program will wait for a key to be pressed. The Current Line will be shown in RED, with the line number shown in the area

just below the Program Window. To get out of INSERT MODE, or ADD MODE type the Enter Key. To enter a command

at the Current Line, type the appropriate letter corresponding to the command shown in the Command Window. This

bright white key is called the Command Key.

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. Once the Command Key is depressed, the Function Window will be cleared and the

user will be prompted for more information. All the commands will allow for user comments to be entered.

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

*+ CW MOTION

*- CCW MOTION

*G GO (INDEX)

*H HOME

*P INDEX TO POSITION *

*I IF INPUTS THEN... *

*L LOOP TO X,Y TIMES *

+) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,

*R RAMP

*B BASE SPEED

*M MAX SPEED

*N NUMBER TO INDEX

*E ENCODER ON/OFF

*V ENCODER RETRY #

*Y ENCODER WINDOW

*O SET OUTPUTS TO

*J JUMP TO LINE

*U UNTIL

*Z ENCODER RESOLUTION*

*A AXIS SELECT

*F FINISH MOVE

*Q QUIT

*T UNITS/SCALE

*S SET POSITION

*W WAIT X SECONDS

*C CHANGE MENU

. ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) -

CLCI2004 PROGRAM GENERATOR COMMAND DICTIONARY

Below is a summary of the commands that are available on the CLCI2004 Program Generator. These command

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. Use the Libraries

as the basis for machine control.

COMMAND SUMMARY

Command

Key

Command

Description

Axis Select

Base Speed

Encoder On/Off

Finish Move

Go Index Number

Home

selects the Active Axes

sets the Base speed

either enable or disables the encoder

waits until motion has stopped and autocorrects

indexes the number to index

homes the motors

loops to a line number if the Inputs match the value

jumps to another line

loop to another line a specified number of times

sets the Maximum Speed

sets the number to index

sets the outputs

indexes to a given position

stops program execution

sets the ramp value

sets the position value

sets the Scale Factor

loops to a line until the Inputs match the value

sets the Encoder

waits a certain time before continuing on

sets the Encoder Window

sets the Encoder Resolution

sets the Direction

If Inputs...

Jump to Line

Loop to Line

Max Speed

Number to Index

Set Outputs

Go to Position

Quit

Ramp

Set Position

Units (Scale)

Until inputs...

Retries

Wait

Encoder Window

Encoder Resolution

Direction

COMMAND DICTIONARY

AXIS SELECTION (any combination of A,B,C, OR D)

To select an Axis, type the Command Key 'A'. The Function Window will ask for the user to Enter the appropriate axes

to be Active. Enter the Letters 'ABCD' for all axes, or enter the Axis letters for any combination of Active Axes. The

default value for Active Axes is 'A'.

BASE SPEED (.001 to 2,50,000)

To select the Base Speed, type the Command Key 'B'. This command will set the Base Speed. The default for this

number is 50.

DIRECTION (+ or -)

To select the direction, type the Command Key '+' or '-'. This parameter specifies which direction the motor will turn when

indexed by the Go Command. The default value for this is '+' or the Clockwise Direction.

ENCODER ON/OFF (0 or 1)

To select Encoder On/Off, type the Command Key 'E'. This parameter specifies if Encoder Correction is to be Enabled

or Disabled. A '1' will Enable Encoder Correction, a '0' will Disable it. The Indexer will do all the appropriate corrections

needed when the Finish Move (F) command is executed. The default value for this is 0, or no encoder correction.

ENCODER RESOLUTION (any number)

To select Encoder Resolution, type the Command Key 'Z'. This parameter specifies how many 'lines' the Encoder has.

The default value for this is 400 lines.

ENCODER RETRIES (any real number)

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. When the CLCI2000 does a

retry, it will always retry the move at the Base Speed. The default value for Encoder Retries is 0.

ENCODER WINDOW (any integer)

To select Encoder Window, type the Command Key 'Y'. This is the allowable error the encoder might have at the end

of a move without correcting. The units for this is in Quadrature Pulses. For a 400 line encoder, there will be 1600

quadrature pulses per one revolution. The default value for this is 20.

FINISH MOVE (no value)

To select Finish Move, type the Command Key 'F'. This is the command that will wait until all motion is complete before

continuing on in the program. This is the Command that also tells the Indexer to autocorrect at this time if the Encoder

Correction is Enabled. This command is useful because it enables other operations to be done while an axis is indexing.

The sample program below is a section of a larger program. It shows how a Finish command might be used.

10 AXIS A

11 N4000

12 +

13 G

14 UNTL XXXXX XXX1X 14

15 AXIS B

16 -

17 GO

18 AXIS AB

19 FNSH

Line 10 chooses Axis A as the only active axis. It sets the number to index at 4000, and initiates an index in the

Clockwise Direction. After the Go Command, the program will wait until input 2 becomes active (0 VDC) before it

continues on. Once Input 2 is activated, the program will select Axis B and index in the Counterclockwise direction.

The Finish Command then will cause the program to wait until the active axes have completed their motion before

continuing on.

GO (INDEX) (no value)

To select Go, type the Command Key 'G'. This is the command that will index the motor the number of steps specified

by the Number To Index Command. NOTE: To halt program execution until the motion on all axes has stopped, include

the Finish Command in the appropriate position.

HOMING (0 or 1)

There are 2 homing modes, Home Type 0 and Home Type 1.

Home Type 0 uses the Soft Limit Switch, and the Home

Limit Switch. When the Soft Limit Switch is

encountered, the motor will start ramping down to the

Base Speed. When the Home Limit Switch is

encountered, the motor will stop.

Home Type 1 uses only the Home Limit Switch. When

the Home Limit Switch is encountered, the motor will

ramp down to the Base Speed and then stop. The

motor will then go in the opposite direction at Base

Speed until the Home Limit Switch is encountered

again. The Home FLAG must go past the switch that

triggers it, and come off of it. It will then reverse

direction and then stop when the switch is sensed again.

The sequence that the switch must go through is: a Low

Level, a High Level, and then back down to a Low

Level.

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.

INDEX TO POSITION (-8,388,608 to 8,388,608)

To select Index to Position, type the Command Key 'P'. The Indexer will internally calculate the correct direction and

distance to index.

JUMP TO LINE (1 to 1000)

To select Jump to Line, type the Command Key 'J'. The software will jump forwards or backwards to the specified line

when it reaches this command.

LOOP TO X, Y TIMES (1 to 1000, any real number for times)

To select Loop to X,Y Times, type the Command Key 'L'. The software will loop to the specified line given as X, the

number of times given by Y. In the initial release of this software (below version 2.00) nested looping will not be allowed.

MAX SPEED (.001 to 2,500,000)

To select the Max Speed, type the Command Key 'M'. This command will set the Maximum Speed. The default for this

number is 4000.

NUMBER TO INDEX (0 to 16,777,215)

To select the Index Number, type the Command Key 'N'. This command will set the distance to index by the Go

Command. The default for this number is 400.

QUIT (no value)

To select the Quit Command, type the Command Key 'Q'. This will stop execution of the program.

RAMP (any number)

To select the Ramp Command, type the Command Key 'R'. This will set the value for the Acceleration and Deceleration.

The number is in the actual units that are being used. For example, with a Unit/Scale of 1, a Ramp of 100000 would be

a ramp of 100000 steps per second per second (steps/sec^2). (see units command)

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'. This command will set the position to the value

specified. Positive and Negative numbers are valid from 0 to ±8,388,608.

UNITS/SCALE (any number)

To select the command Units/Scale, type the Command Key 'T'. This command is used as a scale factor to allow any

units to be programmed. For example, on a Half-Step Driver with a 10 pitch lead screw, it takes 4000 steps to go 1 inch.

A scale factor of 1/4000 or .00025 would allow all the parameters to be programmed in inches.

UNTIL (5 characters, a space, 5 characters), Line#

To select the command Until, type the Command Key 'U'. This command will check the value of the Inputs and loop to

the specified line number Until they match what was specified.

WAIT (.01 to any number)

To select the command Wait, type the Command Key 'W'. This command will pause the program the number of seconds

specified, with the accuracy of 10 milliseconds or better. To Wait 4.5 seconds, enter the number 4.5 for the Wait

Command.

ADVANCED PROGRAMMING

In modifying an existing Library, or writing a new software library, It is strongly advised that programmers should use the

current libraries for Basic or C, and transfer them to the different languages. The current libraries are 'bug free', so this

will help the programmer to produce 'bug-free' code.

The CLCI2000 is designed to plug into any AT/ISA PC Compatible bus. This is the bus used by most PC Manufacturers.

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.

BITS

SETTING RANGE

0 to 16,777,215

1 to 16,383

DESCRIPTION

INDEX NUMBER

BASE SETTING (NOT IN HZ)

MAX SETTING (NOT IN HZ)

RAMP SETTING

1 to 16,383

1 to 32,767

2 to 16,383

FACTOR

0 to 16,777,215

POSITION REGISTER

ENCODER REGISTER

The least significant byte (lowest) should always be written or read first, followed by the middle byte and then the most

significant (highest). For writing operations, the bytes being written will be "buffered" until the most significant is written.

At that time they will all be simultaneously transferred to the working registers. For reading operations, the read of the

least significant byte causes the upper bytes to be copied into a holding buffer simultaneously to the least significant read.

They can then be read afterwards without concern to their having possibly changed in the time between the successive

reads.

ADDRESS SELECTION (Hex)

FUNCTION

Base Address through Base Address + 3

(H00 -H03)

READ INPUTS 1-5

Base Address + 4 through Base Address + 7

(H04-H07)

SET OUTPUTS 1-5, A:HOME DIR, B:HOME

DIR

Base Address + 8 through Base Address + 11

(H08 -H0B)

READ INPUTS 6-10

Base Address + 12 through Base Address + 15

(H0C -H0F)

SET OUTPUTS 6-10, C:HOME DIR,

D:HOME DIR

Base Address + 16 (H10)

Base Address + 17 (H11)

Base Address + 18 (H12)

Base Address + 19 (H13)

Base Address + 20 (H14)

Base Address + 21 (H15)

Base Address + 22 (H16)

Base Address + 23 (H17)

Base Address + 24 (H18)

Base Address + 25 (H19)

Base Address + 26 (H1A)

Base Address + 27 (H1B)

Base Address + 28 (H1C)

Base Address + 29 (H1D)

Base Address + 30 (HIE)

A:Command Buffer Register

A:Register Bits 0-7 (LSB)

A:Register Bits 8-15 (Mid)

A:Register Bits 16-23 (MSB)

B:Command Buffer Register

B:Register Bits 0-7 (LSB)

B:Register Bits 8-15 (Mid)

B:Register Bits 16-23 (MSB)

C:Command Buffer Register

C:Register Bits 0-7 (LSB)

C:Register Bits 8-15 (Mid)

C:Register Bits 16-23 (MSB)

D:Command Buffer Register

D:Register Bits 0-7 (LSB)

D:Register Bits 8-15 (Mid)

D:Register Bits 16-23 (MSB)

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.

The two bits being '00' will handle all the commands involving motion, starting and stopping the pulses. See

the Start or Stop Commands Table for further details.

The two bits being '01' or '10' will handle Initial Setup Commands for the board. This should be setup as shown

in the example.

The two bits being '11' will handle the Input and Output Control Commands. This will allow the limit switches to

be enables and disabled. See the Input and Output Control Commands Table for more details.

DATA BITS

COMMAND SET TYPE

(SEE DESCRIPTIONS FOR INDIVIDUAL COMMANDS)

START OR STOP COMMANDS

INITIAL SETUP COMMANDS

INPUT AND OUTPUT CONTROL COMMANDS

COMMAND BUFFER REGISTER

Description of Command

Changes to constant speed operation at the Base Speed rate. *

Changes to contant speed operation at the Max Speed rate. *

Ramps up or down to the Base Speed rate. *

Ramps up or down to the Max Speed rate. *

Changes immediately to the Base Speed rate and stops. *

Changes immediately to the Max Speed rate and stops. *

Ramps up or down to the Base Speed rate and stops. * **

Ramps up or down to the Max Speed rate and stops. * **

Starts at Base Speed operation or if already running changes to Base

Speed operation.

Starts at Max Speed operation or if already running changes to Max

Speed operation.

Starts at Base Speed (constant speed start) or if already running

ramps up or down to Base Speed operation.

Starts at Base speed and ramps to Max speed operation or if already

running ramps up or down to Max Speed operation.

Outputs a single pulse at Base Speed and Stops.

Outputs a single pulse at Max Speed and Stops.

If running, ramps up or down to Base speed and then stops. **

If running, ramps up or down to Max speed and then stops. **

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.

DATA BIT

FUNCTION OF BIT

Pulse Rate Source Selection

Ramping Up/Down Enable

Pulse Direction Selection

STOP

IF IT IS A "0"

Base Speed

No Ramping

IF IT IS A "1"

Max Speed

Ramping

CCW

No Function

Always

Stop

START

Start

No Function

Not Allowed

MUST BE A ZERO

Always

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:

136

send to the LSB

send to the MID

send to the MSB

144

Another set up that should be sent to the board initially and after any 'Origin Index with the encoder Z channel'.

send to the Command Buffer Register:

INPUT AND OUTPUT CONTROL COMMANDS

This set of commands primarily affects the enabling and disabling of the limit switches. To enable a limit switch, select

a "1" for that Data Bit. To disable a limit switch, select a "0" for that Data Bit. Enabling and Disabling the Limit Switches

does not affect the reading of those switches.

DATA BIT

FUNCTION OF THE BIT

Must be a 0

IF IT IS A "0"

Always

IF IT IS A "1"

Not Allowed

Enabled

±SOFT Signal Input Enable

EZ Signal Input Enable

HOME Signal Input Enable

No Function

Not Enabled

No Function

Not Allowed

Enabled

No Function

Always

Must be a 1

Always

Must be a 1

Always

INPUT AND OUTPUT CONTROL COMMANDS

LIST OF EQUATIONS

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. A large factor will produce the smoothest ramping, but will not allow for very high speeds. A low factor

will produce the higher speeds, but the ramping is not as smooth. In the subroutines affecting the speed settings, the

highest possible factor is used for the given Base Speed and Max Speed. The relationship between the factor and both

the Base and Max Settings is shown in equation 1 and 2.

BASE SPEED = 300 * BASE SETTING / FACTOR

MAX SPEED = 300 * MAX SETTING / FACTOR

(EQ. 1)

(EQ. 2)

To calculate the time it takes to ramp up or ramp down, equation 3 can be used.

TUP = 2 * RAMP SETTING * (MAX SETTING -BASE SETTING) / 9,830,400

(EQ. 3)

To calculate real acceleration values (in steps/second*second) equation 4 can be used The acceleration profile is linear.

ACCELERATION = (MAX SPEED - BASE SPEED) / TUP (EQ. 4)

NOTES

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