ICP DAS USA 3-axis encoder card, 2-axis stepping/servo, I-8091 2-axis stepping/servo Restriction

I-8091 User Manual			Version 1.0 06/2001
Restriction:
1 ≤	DDA_ cycle≤		254
1 ≤	Acc _ Dec≤	200
1 ≤	Low _ Speed≤		200
Low_ Speed ≤		High_ Speed≤ 2047

Low_Speed >= Acc_Dec

default value DDA_cycle = 10 Acc_Dec = 1 Low_Speed = 10 High_Speed = 100

Example:

i8091_SET_VAR(1, 5, 2, 10, 150);

where

DDA_cycle = 5 --> DDA period = (5+1)*1.024ms = 6.144ms

Acc_Dec = 2 --> Acc/Dec speed = 2/(6.144ms)^2 = 52981 p/s^2

Low_Speed = 10 --> low speed = 10/6.144ms = 1628pps High_Speed = 150 --> high speed = 150/6.144ms = 24414pps

(4)i8091_SET_DEFDIR(unsigned char cardNo, unsigned char defdirX,

unsigned char defdirY)

Sometimes, the output direction of X-axis, Y-axis is undesired direction due to the motor’s connection or gear train. In oder to unify the output direction as shown in Fig.(5) and Fig.(6). Where CW/FW direction is defined as toward outside from motor, CCW/BW direction is defined as toward inside from motor. i8091_SET_DEFDIR( ) command provide parameters to define the rotating direction of motor.

cardNo : board number 0~19.

defdirX : X axis direction definition

defdirY : Y axis direction definition 0 : NORMAL_DIR

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