ICP DAS USA 3-axis encoder card, 2-axis stepping/servo user manual Interpolation commands

Page 59

I-8091 User Manual

Version 1.0 06/2001

3.1.4 Interpolation commands

(21)i8091_INTP_PULSE(unsigned char cardNo, int Xpulse, int Ypulse) This command will move a short distance (interpolation short line) in X-Y plane. This command provided a method for user to generate an arbitrary curve in X-Y plane.

Y		Y
						10
	(Xpulse,Ypulse)					9
						9
		3	4			8
	X	2		5	6	7
	X				6	7
		1

X

cardNo : board number 0~19. Restriction:

− 2047≤ # Xpulse≤ 2047

−2047≤ #Ypulse≤ 2047

Example: i8091_INTP_PULSE(1,20,20); i8091_INTP_PULSE(1,20,13); i8091_INTP_PULSE(1,20,7); i8091_INTP_PULSE(1,20,0); i8091_INTP_PULSE(1,15,-5);

(22)i8091_INTP_LINE(unsigned char cardNo, long Xpulse, long Ypulse) This command will move a long distance (interpolation line) in X-Y plane. The CPU on I-8091 card will generate a trapezoidal speed profile of X-axis and Y-axis, and execute interpolation by way of DDA chip.

Y

(Xpulse,Ypulse)

(0,0)X

cardNo : board number 0~19.

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Contents Icpdas Contents Contents Version 1.0 06/2001 Edition 8090 Axis encoder card8090 3-axis encoder card FeaturesVersion 06/2001 8000, 4 slots 8000, 8 slots I-8000 hardware addressRST INH SEL Registers of I-8090 boardFig2 Quadrant counting mode 01 CW/CCW counting mode Fig3 CW/CCW counting mode Pulse/Direction counting mode Power 1C 2A LED IndicatorEgnd ConnectionEncoder CW/PULSE CCW/DIR Index S8091 card Constants Constants and functionsIcpdas 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 Introduction System Block DiagramDDA Technology Example Stepping Motor Example Pulse type input Servo Motor 8000 hardware address HardwareRstff Registers of I-8091 boardPower Limit switch configuration of X axis Hardware Configuration Limit switch configurationAutomatic protection Output pulse mode configurationDirection configuration Turn Servo ON/OFF Hold ON/OFFSet limit switch as normal close condition Extgnd Pin assignment of connector CN2Internal circuit of pulse output pin Internal circuit of limit switch inputFan-out type driver VEXTAs motor driver Example of connectionS8091 card Functions SoftwareIcpdas I8091RESETSYSTEM unsigned char cardNo Setting commandsRestriction Reversedir Icpdas 11 i8091EMGSTOPunsigned char cardNo Stop CommandsSimple 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 Detect I-8091 card ExampleExampleDEMO1.cpp Example DEMO.cpp