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PCL8393AXISSTEPPINGMOTORCONTROLCARDUSERMANUALCOPYRIGHTTHEDOCUMENTATIONANDTHESOFTWAREINCLUDEDWITHTHISPRODUCTARECOPYRIGHTED2004BYADVANTECHCO,LTDALLRIGHTSARERESERVEDADVANTECHCO,LTDRESERVESTHERIGHTTOMAKEIMPROVEMENTSINTHEPRODUCTSDESCRIBEDINTHISMANUALATANYTIMEWITHOUTNOTICENOPARTOFTHISMANUALMAYBEREPRODUCED,COPIED,TRANSLATEDORTRANSMITTEDINANYFORMORBYANYMEANSWITHOUTTHEPRIORWRITTENPERMISSIONOFADVANTECHCO,LTDINFORMATIONPROVIDEDINTHISMANUALISINTENDEDTOBEACCURATEANDRELIABLEHOWEVER,ADVANTECHCO,LTDASSUMESNORESPONSIBILITYFORITSUSE,NORFORANYINFRINGEMENTSOFTHERIGHTSOFTHIRDPARTIES,WHICHMAYRESULTFROMITSUSEACKNOWLEDGEMENTSPCLABCARDISATRADEMARKOFADVANTECHCO,LTDIBMANDPCARETRADEMARKSOFINTERNATIONALBUSINESSMACHINESCORPORATIONMSDOS,MICROSOFTCANDQUICKBASICARETRADEMARKSOFMICROSOFTCORPORATIONBASICISATRADEMARKOFDARTMOUTHCOLLEGEINTELISATRADEMARKOFINTELCORPORATIONTURBOCISATRADEMARKOFBORLANDINTERNATIONALALLOTHERPRODUCTNAMESORTRADEMARKSAREPROPERTIESOFTHEIRRESPECTIVEOWNERSPARTNO20030839022NDEDITIONPRINTEDINTAIWANMAY2005PCL839USERMANUALIIPRODUCTWARRANTY2YEARSADVANTECHWARRANTSTOYOU,THEORIGINALPURCHASER,THATEACHOFITSPRODUCTSWILLBEFREEFROMDEFECTSINMATERIALSANDWORKMANSHIPFORTWOYEARSFROMTHEDATEOFPURCHASETHISWARRANTYDOESNOTAPPLYTOANYPRODUCTSWHICHHAVEBEENREPAIREDORALTEREDBYPERSONSOTHERTHANREPAIRPERSONNELAUTHORIZEDBYADVANTECH,ORWHICHHAVEBEENSUBJECTTOMISUSE,ABUSE,ACCIDENTORIMPROPERINSTALLATIONADVANTECHASSUMESNOLIABILITYUNDERTHETERMSOFTHISWARRANTYASACONSEQUENCEOFSUCHEVENTSBECAUSEOFADVANTECHSHIGHQUALITYCONTROLSTANDARDSANDRIGOROUSTESTING,MOSTOFOURCUSTOMERSNEVERNEEDTOUSEOURREPAIRSERVICEIFANADVANTECHPRODUCTISDEFECTIVE,ITWILLBEREPAIREDORREPLACEDATNOCHARGEDURINGTHEWARRANTYPERIODFOROUTOFWARRANTYREPAIRS,YOUWILLBEBILLEDACCORDINGTOTHECOSTOFREPLACEMENTMATERIALS,SERVICETIMEANDFREIGHTPLEASECONSULTYOURDEALERFORMOREDETAILSIFYOUTHINKYOUHAVEADEFECTIVEPRODUCT,FOLLOWTHESESTEPS1COLLECTALLTHEINFORMATIONABOUTTHEPROBLEMENCOUNTEREDFOREXAMPLE,CPUSPEED,ADVANTECHPRODUCTSUSED,OTHERHARDWAREANDSOFTWAREUSED,ETCNOTEANYTHINGABNORMALANDLISTANYONSCREENMESSAGESYOUGETWHENTHEPROBLEMOCCURS2CALLYOURDEALERANDDESCRIBETHEPROBLEMPLEASEHAVEYOURMANUAL,PRODUCT,ANDANYHELPFULINFORMATIONREADILYAVAILABLE3IFYOURPRODUCTISDIAGNOSEDASDEFECTIVE,OBTAINANRMARETURNMERCHANDIZEAUTHORIZATIONNUMBERFROMYOURDEALERTHISALLOWSUSTOPROCESSYOURRETURNMOREQUICKLY4CAREFULLYPACKTHEDEFECTIVEPRODUCT,AFULLYCOMPLETEDREPAIRANDREPLACEMENTORDERCARDANDAPHOTOCOPYPROOFOFPURCHASEDATESUCHASYOURSALESRECEIPTINASHIPPABLECONTAINERAPRODUCTRETURNEDWITHOUTPROOFOFTHEPURCHASEDATEISNOTELIGIBLEFORWARRANTYSERVICE5WRITETHERMANUMBERVISIBLYONTHEOUTSIDEOFTHEPACKAGEANDSHIPITPREPAIDTOYOURDEALERIIICETHISPRODUCTHASPASSEDTHECETESTFORENVIRONMENTALSPECIFICATIONSWHENSHIELDEDCABLESAREUSEDFOREXTERNALWIRINGWERECOMMENDTHEUSEOFSHIELDEDCABLESTHISKINDOFCABLEISAVAILABLEFROMADVANTECHPLEASECONTACTYOURLOCALSUPPLIERFORORDERINGINFORMATIONTECHNICALSUPPORTANDASSISTANCESTEP1VISITTHEADVANTECHWEBSITEATWWWADVANTECHCOM/SUPPORTWHEREYOUCANFINDTHELATESTINFORMATIONABOUTTHEPRODUCTSTEP2CONTACTYOURDISTRIBUTOR,SALESREPRESENTATIVE,ORADVANTECHSCUSTOMERSERVICECENTERFORTECHNICALSUPPORTIFYOUNEEDADDITIONALASSISTANCEPLEASEHAVETHEFOLLOWINGINFORMATIONREADYBEFOREYOUCALLPRODUCTNAMEANDSERIALNUMBERDESCRIPTIONOFYOURPERIPHERALATTACHMENTSDESCRIPTIONOFYOURSOFTWAREOPERATINGSYSTEM,VERSION,APPLICATIONSOFTWARE,ETCACOMPLETEDESCRIPTIONOFTHEPROBLEMTHEEXACTWORDINGOFANYERRORMESSAGESPACKINGLISTBEFORESETTINGUPTHESYSTEM,CHECKTHATTHEITEMSLISTEDBELOWAREINCLUDEDANDINGOODCONDITIONIFANYITEMDOESNOTACCORDWITHTHETABLE,PLEASECONTACTYOURDEALERIMMEDIATELYTHEIPPC9170SERIESINDUSTRIALPANELPCSINCLUDETHEFOLLOWINGMODELS1PCL839CARD2COMPANIONCDROMDOSANDDLLDRIVERINCLUDED3USERMANUALPCL839USERMANUALIVCONTENTSCHAPTER1GENERALINFORMATION211INTRODUCTION212FEATURES313APPLICATIONS314SPECIFICATIONS4141DIGITALINPUT/OUTPUT4142GENERAL415BLOCKDIAGRAM5FIGURE11PCL8393AXISSTEPPINGMOTORCONTROLCARD5CHAPTER2INSTALLATION821SWITCHANDJUMPERSETTINGS8211SETTINGTHEPCL839BASEI/OADDRESSS18TABLE21CARDI/OADDRESSESS18FIGURE21S1BASEADDRESSSETTING922LIMITSWITCHCONFIGURATIONJP1,JP2,JP39221EL/EL9222SD/SD9223ORG923LIMITSWITCHPOLARITYSETTING10231JP1,JP2ANDJPJSELECTION10FIGURE22USINGLIMITSWITCHES110FIGURE23NORMALLYOPENWIRING11FIGURE24NORMALLYCLOSEDWIRING11232INTERRUPTLEVELSELECTIONJP412FIGURE25SETTINGTHEINTERRUPTLEVEL1224HARDWAREINSTALLATION12241INSTALLINGTHECARDINYOURCOMPUTER1325PCL839PINCONNECTIONS13251THE37PINFEMALECONNECTORCN314252EXAMPLEINPUT/OUTPUTCIRCUITCONNECTIONS15FIGURE26ISOLATEDOUTPUTCONNECTION15FIGURE27NONISOLATED12VBIASCONNECTION16FIGURE28TTLCOMPATIBLEOUTPUTCONNECTION16FIGURE29CURRENTDRIVEROUTPUTCONNECTION17253DIGITALINPUTANDOUTPUTCONNECTORSCN1,CN217FIGURE210CN1DIGITALOUTPUT18FIGURE211CN2DIGITALINPUT18CHAPTER3PCL839SOFTWARELIBRARY2031INTRODUCTION2032THEPCL839PHHEADERFILE2033THEPCL839PXLIBLIBRARYFILE22V34FUNCTIONCALLDESCRIPTIONS23341FUNCTION1SETBASE23342FUNCTION2SETMODE24343FUNCTION3SET_SPEED25344FUNCTION4STATUS26345FUNCTION5STOP27346FUNCTION6SLOWDOWN28347FUNCTION7SLDN_STOP29348FUNCTION8WAITRDY30349FUNCTION9OUT_PORT313410FUNCTION10IN_PORT323411FUNCTION11ORG333412FUNCTION12CMOVE343413FUNCTION13PMOVE353414FUNCTION14LINE363415FUNCTION15ARC37CHAPTER4REGISTERPROGRAMMING4041PCL839REGISTERS40411R0DOWNCOUNTER24BITS40412R1FLREGISTER13BITS41413R2FHREGISTER13BITS41414R3ACC/DECRATEREGISTER10BITS42415R4MULTIPLIERREGISTER10BITS43416R5RAMPINGDOWNPOINTREGISTER16BITS44FIGURE41RELATIONBETWEENR5ANDRAMPINGDOWNVELOCITY45417R6IDLINGPULSEREGISTER3BIT46418R7OUTPUTTYPEREGISTER1BIT4742PROGRAMMINGTHEPCL8394743I/OREGISTERCONTROLFORMAT47TABLE41REGISTERI/OADDRESSMAP4744COMMANDBUFFERSWRO,WR4ANDWR849441REGISTERFORMAT49TABLE42REGISTERFORMAT49442SELECTIONMODES49TABLE43SELECTIONMODES4945COMMANDS50451STARTSTOPCOMMAND50452OPERATIONMODESELECTCOMMAND52453REGISTERSELECTCOMMAND53454OUTPUTMODESELECTCOMMAND55FIGURE42OUTPUTMODESELECTCOMMAND5546READSTATUS56461CHANNELSTATUSBUFFERSRD0,RD4ANDRD857FIGURE43STATUS0BITCONFIGURATION57462DATABUFFERSWR1,WR5ANDWR957PCL839USERMANUALVI463DATABUFFERSWR2,WR6ANDWR1057464DATABUFFERSWR3,WR4ANDWR1158FIGURE44STATUS1BITCONFIGURATION58FIGURE45STATUS2BITCONFIGURATION59465DIGITALOUTPUTSWR12ANDWR1360466DIGITALINPUTSRD12ANDRD1360467INTERRUPTCONTROLWR1461FIGURE46INTERRUPTPATHOFTHEPCL83961468INTERRUPTSTATUSREGISTERRD1461469EXAMPLEOFREADINGSTATUSREGISTER6247TYPICALOPERATIONALPROCEDURES63471INITIALIZATION63472SETTINGSPEEDDATA64473CONSTANTSPEEDPRESETMODEL65474HIGHSPEEDPRESETMODEL66475CONSTANTSPEEDCONTINUOUSMODE67476HIGHSPEEDCONTINUOUSMODE68477CONSTANTSPEEDORIGINRETURNMODEL69478HIGHSPEEDORIGINRETURNMODEL70APPENDIXBSIMPLESTMOTORDRIVER72FIGUREB1SIMPLESTEPPINGMOTORDRVBLOCKDIAG72FIGUREB2PATTERNENCODERCONNECTION72FIGUREB3JP1ATFULLSTEPCONTROL73FIGUREB4JP1ATHALFSTEPCONTROL74FIGUREB54PHASESTEPPINGMOTORPOWERCONTROLCIRCUIT75APPENDIXADIAGRAMS78A1JUMPERANDSWITCHLAYOUT78A2PCL839BLOCKDIAGRAM79A3OUTPUTCIRCUITDIAGRAM80VIIPCL839USERMANUALVIII2CHAPTER1GENERALINFORMATIONIFYOUHAVEJUSTPURCHASEDTHEPCL839,ORJUSTNEEDTOBRUSHUPONITSFEATURESORSPECIFICATIONS,YOUWOULDWANTTOREADTHISCHAPTERSECTIONSINCLUDEINTRODUCTIONFEATURESAPPLICATIONSSPECIFICATIONSBLOCKDIAGRAMCHAPTER1GENERALINFORMATION11INTRODUCTIONTHEPCL839ISAHIGHSPEEDTHREEAXISSTEPPINGMOTORCONTROLCARDTHATSIMPLIFIESSTEPPINGMOTORCONTROL,GIVINGYOUADDEDPERFORMANCEFROMYOURSTEPPINGMOTORSTHREEAXISCONTROLTHEPCL839HASONESINGLECHIPPULSEGENERATORONBOARD,WHICHENABLESTHESIMULTANEOUSANDINDEPENDENTCONTROLOFTHREEAXESTHEPCL839PROVIDESDIGITALPULSEANDDIRECTIONALCONTROLANDFOREACHSTEPPINGMOTORAXISUSERFRIENDLYINTERFACETHEPCL839HASBEENDESIGNEDTOACTASAUSERFRIENDLYSOLUTIONFORYOURSTEPPINGMOTORCONTROLAPPLICATIONSPROGRAMMINGTHEPCL839ISVERYEASYCLIBRARIESAREPROVIDEDANDTHEYCONTAINALLTHECOMMANDFUNCTIONSNEEDEDFORTOTALCONTROLOFYOURSTEPPINGMOTORSSTANDALONEINTERPRETERASTANDALONE,NONRESIDENTCOMMANDINTERPRETER,PROGG39EXE,CANALSOBEUSEDTOCONTROLYOURSTEPPINGMOTORSWITHOUTANYPROGRAMMINGDIGITALI/OTHEPCL839FEATURES16DIGITALINPUTSAND16DIGITALOUTPUTSFORGENERALI/OUSEON/OFFCONTROLETCISOLATIONPROTECTIONTHEPCL839SPULSEANDDIRECTIONOUTPUTSANDFIVELIMITSINPUTSWITCHESAREISOLATEDFROMTHEPCSIDEPCL839USERMANUAL212FEATURESONEONBOARDPULSEGENERATORTHATENABLESSIMULTANEOUSINDEPENDENTCONTROLOFTHREESTEPPINGMOTORSTWOOPERATINGMODESTWOPULSEANDDIRECTIONPULSEORONEPULSEPULSEDIRECTIONMODEPROGRAMMABLESTEPRATEFROM1TO16382PPSPULSESPERSECONDPROGRAMMABLEINITIALSPEED,FINALSPEEDANDTIMEDURATIONAUTOMATICTRAPEZOIDALACCELERATION/DECELERATIONTAMPINGISPERFORMED16I/OTTLCOMPATIBLECHANNELSALLINPUTS/OUTPUTSAREOPTICALLYISOLATED,PROVIDING5000VRMSISOLATIONPROTECTIONCLIBRARIESCONTAININGDEVICEDRIVERSPROVIDEDCOMMANDINTERPRETERPROVIDEDTHATEASESLEARNINGTHEPCL839COMMANDSET13APPLICATIONSPRECISEXYZPOSITIONCONTROLPRECISEROTATIONCONTROLROBOTICSANDASSEMBLYEQUIPMENTOTHERSTEPPINGMOTORAPPLICATIONS3CHAPTER114SPECIFICATIONSNUMBEROFAXESTHREEINDEPENDENTAXESINDIVIDUALLYPROGRAMMABLEOPERATINGMODESTWOPULSEMODEORDIRECTIONORONEPULSEPULSEDIRECTIONMODESTEPSPERCOMMAND16777215STEPSSTEPRATE1200KACCELERATION/DECELERATIONRAMPINGUSERPROGRAMMABLESTART,RUNANDRAMPINGRATESOUTPUTPOLARITYPOSITIVE/NEGATIVEGOINGPULSEPROGRAMMABLEPULLUPVOLTAGEEXTERNAL5V12VOUTPUTPROTECTIONOPTOCOUPLEDWITH1KPULLUPRESISTOROUTPUTDRIVINGCAPACITY20MA04VDCLIMITSWITCHINPUTS2EMERGENCYSTOPINPUTS,2SLOWDOWN/ACCELERATEINPUTSAND1ORGINPUTALLLIMITSSWITCHESAREISOLATEDFROMTHEPCLIMITSWITCHINPUTVOLTAGEEXTERNAL5VTO12VINTERRUPTCHANNELSIRQ2,4,5,7,10,11,12OR15JUMPERSELECTABLELIMITSWITCHTYPESNORMALOPENNOORNORMALCLOSEDNCJUMPERSELECTABLE141DIGITALINPUT/OUTPUTINPUTCHANNELSSIXTEEN5VTTLCOMPATIBLEOUTPUTCHANNELSSIXTEEN5VTTLCOMPATIBLEI/OADDRESSRANGESIXTEENCONSECUTIVEI/OADDRESS142GENERALPOWERCONSUMPTIONTYPICAL330MA,5VDCCONNECTOR37PINDTYPECONNECTORBOARDDIMENSIONS1835X9906MMOPERATINGTEMPERATURE070CPCL839USERMANUAL415BLOCKDIAGRAMFIGURE11PCL8393AXISSTEPPINGMOTORCONTROLCARDPCBUSADDRESSADDRESSDECODERBUFFERIRQSELECTEORDATABUSPCD45412PHASESTEPPINGMOTORCONTROLLERSYSTEMDIOBLOCKOUTPUTISOLATORDIRPULSEOUTPUTSINPUTISOLATORORG,EL,ELSD,SDINPUTSDIGITALOUTPUTSDIGITALINPUTSPCL839HIGHSPEEDSTEPPINGMOTORCONTROLCARD5CHAPTER1PCL839USERMANUAL62CHAPTER2INSTALLATIONIFYOUHAVENOTYETCONFIGUREDAND/ORINSTALLEDYOURPCL839,ORNEEDTOCHANGETHECONFIGURATIONEGSETADIFFERENTBASEADDRESS,THISC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