ICP DAS USA I-8091 2-axis stepping/servo, I-8090 3-axis encoder card Start up and end of program

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I-8091 User ManualVersion 1.0 06/2001

3.2 Start up and end of program

Start up program

When you are going to use I-8091 card, there are some commands must be implement in previous.

i8091_REGISTRATION(CARD1,0x80)

set CARD1 address, (where CARD1=1)

i8091_RESET_SYSTEM(CARD1);

reset system

i8091_SET_VAR(CARD1, DDA, AD, LSP, HSP);

set DDA cycle, accelerating/decelerating speed, low speed and high speed value

i8091_SET_DEFDIR(CARD1, xdir, ydir);

define direction.

i8091_SET_MODE(CARD1, xmode, ymode);

define output mode.

i8091_SET_SERVO_ON(CARD1, xson, yson);

set servo ON/OFF. define output mode.

i8091_SET_NC(CARD1, nc);

To config limit switch as N.C. or N.O.

end of program

i8091_RESET_SYSTEM(CARD1);

To reset system

Example

//-----------------------------------------------------------------------------
-
#define CARD1	1
typedef struct {
int	address;
unsigned char	DDA,AD;
unsigned int	LSP,HSP;
unsigned char	xmode,ymode;
unsigned char	xdir,ydir;
unsigned char	xson,yson;
unsigned char	NCmode;

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Image 66

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