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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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COPYRIGHT Copyright 1993 by Anaheim Automation. All rights reserved. No part of this publication may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, without the prior written permission of Anaheim Automation, 910 E. Orangefair Lane, Anaheim, CA 92801. The only exception to this would be use of the program examples in this manual. DISC
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TABLE OF CONTENTS DESCRIPTION ............................................................ 1 General Description .................................................... 1 Main Features ........................................................ 1 Packing Information .................................................... 1 Ordering Information ................................................... 2 SPECIFICATIONS .......................................................... 4 INSTALLATION ....................
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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 index
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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 CLCI2001 2-AXES Indexer Board CLCI2002 3-AXES Indexer Board CLCI2003 4-AXES Indexer Board CLCI2004 1-AXIS
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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
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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 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 w
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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
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QUICKSTART WITH QUICKBASIC This is a quick procedure for hooking up the CLCI2000 Series Computer Board with a Driver and Step Motor. 1. Plug the CLCI2000 Series Computer Indexer into the computer. 2. 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. 3. Check the Driver for the appropriate voltage or
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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.
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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 LI
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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 whic
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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 co
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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 m
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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
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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. POSI
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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'
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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 'sets up the variable for the boar
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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
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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
