ICP DAS USA I-8090 3-axis encoder card Fig3 CW/CCW counting mode Pulse/Direction counting mode

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I-8090 User Manual

Version 1.0 06/2001

CW

CCW

counter 1

2

3 2

1

X2=0

CW/CCW Counting Mode

Fig(3) CW/CCW counting mode

10 : Pulse/Direction counting mode

Pulse

Direction

counter

1

2

3

2

1

X2=0 Pulse/Direction Counting Mode

Fig(4) Pulse/Direction counting mode

Example: assign counting mode x_mode=y_mode=z_mode=0x00; card[cardNo].ctrl1 = 0x07 x_mode; card[cardNo].ctrl2 = 0x07 y_mode; card[cardNo].ctrl3 = 0x07 z_mode; outportb(card[cardNo].base + WR1, card[cardNo].ctrl1); outportb(card[cardNo].base + WR2, card[cardNo].ctrl2); outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

Example: read X-axis encoder value card[cardNo].ctrl1 &= 0xFC; //1111 1100 low byte outportb(card[cardNo].base + WR1, card[cardNo].ctrl1); value = inportb(card[cardNo].base + RD1); card[cardNo].ctrl1 = 0x01; //0000 0001 high byte outportb(card[cardNo].base + WR1, card[cardNo].ctrl1); value += inportb(card[cardNo].base + RD1)*256; card[cardNo].ctrl1 = 0x03; //0000 0011 outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);

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Contents Icpdas Contents Contents 8090 Axis encoder card Version 1.0 06/2001 EditionFeatures 8090 3-axis encoder cardVersion 06/2001 I-8000 hardware address 8000, 4 slots 8000, 8 slotsRegisters of I-8090 board RST INH SELFig2 Quadrant counting mode 01 CW/CCW counting mode Fig3 CW/CCW counting mode Pulse/Direction counting mode LED Indicator Power 1C 2AConnection EgndEncoder CW/PULSE CCW/DIR Index S8091 card Constants and functions ConstantsIcpdas Unsigned char i8090GETINDEXunsigned char cardNo Icpdas Examples Get X, Y, Z-axis encoder counter’s value Icpdas Break default break Return value Icpdas Icpdas Icpdas \r\n Icpdas Icpdas 8091 Axis stepping/servo motor control card 8091 2-axis Stepping/Servo Motor Control Card Contents System Block Diagram IntroductionDDA Technology Example Stepping Motor Example Pulse type input Servo Motor Hardware 8000 hardware addressRegisters of I-8091 board RstffPower Hardware Configuration Limit switch configuration Limit switch configuration of X axisTurn Servo ON/OFF Hold ON/OFF Output pulse mode configurationDirection configuration Automatic protectionSet limit switch as normal close condition Pin assignment of connector CN2 ExtgndInternal circuit of limit switch input Internal circuit of pulse output pinExample of connection Fan-out type driver VEXTAs motor driverS8091 card Software FunctionsIcpdas Setting commands I8091RESETSYSTEM unsigned char cardNoRestriction Reversedir Icpdas Stop Commands 11 i8091EMGSTOPunsigned char cardNoSimple motion commands High speed move #pulseN. cardNo board number 0~19 Icpdas Example I8091HSPMOVE1, CW, Xaxis Example I8091HSPMOVE1, CW, Yaxis getch I8091SLOWSTOP1, Yaxis Interpolation commands Example I8091INTPLINE1,2000,-3000 I8091INTPLINE1,-500,200 CCW #≤ x 2− Unsigned char i8091INTPSTOP Others Icpdas Start up and end of program = Cwccw Example Detect I-8091 cardExample DEMO.cpp ExampleDEMO1.cpp