ICP DAS USA I-8090 3-axis encoder card, I-8091 2-axis stepping/servo user manual Others

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I-8091 User Manual

Version 1.0 06/2001

3.1.5 Others

(27)unsigned char i8091_LIMIT_X(unsigned char cardNo) to request the condition of X-axis limit switches

cardNo : board number 0~19.

MSB 7	6	5	4	3	2	1	0 LSB
/EMG	/FFFF	/FFEF	/LS14	xx	xx	/LS11	/ORG1

/ORG1 : original point switch of X-axis, low active.

/LS11, /LS14 : limit switches of X-axis, low active, which must be configured as Fig.(5).

/EMG : emergency switch, low active.

/FFEF : active low, FIFO is empty

/FFFF : active low, FIFO is full

Example:

unsigned char limit1; limit1 = i8091_LIMIT_X(1);

(28)unsigned char i8091_LIMIT_Y(unsigned char cardNo) to request the condition of Y-axis limit switches

cardNo : board number 0~19.

MSB 7	6	5	4	3	2	1	0 LSB
ystop	xstop	xx	/LS24	xx	xx	/LS21	/ORG2

/ORG2 : original point switch of Y-axis, low active.

/LS21, /LS24 : limit switches of Y-axis, low active, which must be configured as Fig.(6).

xstop: 1:indicate X-axis is stop

ystop: 1:indicate Y-axis is stop Example:

unsigned char limit2; limit2 = i8091_LIMIT_Y(1);

(29)i8091_WAIT_X(unsigned char cardNo) to wait X-axis going to STOP state. cardNo : board number 0~19.

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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 axisOutput pulse mode configuration Direction configurationTurn Servo ON/OFF Hold ON/OFF 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