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ICP DAS USA I-8090 3-axis encoder card Fig3 CW/CCW counting mode 10 Pulse/Direction counting mode

Models: 3-axis encoder card, 2-axis stepping/servo I-8090 3-axis encoder card I-8091 2-axis stepping/servo

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Fig(3) CW/CCW counting mode

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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ICP DAS USA I-8090 3-axis encoder card user manual Fig3 CW/CCW counting mode 10 Pulse/Direction counting mode

Contents

I-8090/I-8091 User Manual User Manual Part 1 I-8090 3-axis encoder cardPart 2 I-8091 2-axis stepping/servo control card Version 1.0 06/2001I-8090 Contents I-8090/I-8091 User ManualVersion 1.0 06/2001I-8091 Contents Version 1.0 06/2001 Edition I-8090 3-axis encoder card User ManualCopyright Copyright 2001 by ICP DAS. All right are reserved Trademark Features I-8090 3-axis encoder card8090 Contents 1.1 I-8000 hardware address 1. HardwareI-8000, 4 slots I-8000, 8 slots 1.2 Registers of I-8090 board Quadrant Counting Mode counterFig3 CW/CCW counting mode 10 Pulse/Direction counting mode 1C 2A 1.3 LED Indicatorpower I-8090 User Manual1.4 Connection Encoder Version EncoderI-8090 User Manual 06/2001Version 1.0 06/2001 I-8090 User ManualS8091 card S8090 cardConstants 2. Software2.1 constants and functions Functionsaddress hardware address which defined at chapter 4 void i8090RESETENCODERunsigned char cardNo, unsigned char axis 5 unsigned char i8090GETINDEXunsigned char cardNo6 void i8090ENCODER32ISRunsigned char cardNo 32 bits encoder counts command sets7 void i8090RESETENCODER32unsigned char cardNo, unsigned char axis 8 long i8090GETENCODER32unsigned char cardNo, unsigned char axis2.2 examples 2.2.3 Get X, Y, Z-axis encoder counter’s value case Yaxis 2.2.4 Software 32 bits encoder counter programming #define CARD1 1 #define CARD2 2 #define MAXSLOTNO Show5DigitLed0x04, j value=value/10 j=value-10*value/10 break default int key,ShowAxis i8090Slot=99 for j=0 jMAXSLOTNO j++ Delay5 //delay 5ms case 1 ShowLedValueyvalue,Yaxis break switch ShowAxiscase 0 ShowLedValuexvalue,Xaxis break case 2 ShowLedValuezvalue,Zaxis breakVersion 1.0 06/2001 Edition I-8091 2-axis stepping/servo motor control card User ManualCopyright Copyright 2001 by ICP DAS. All right are reserved Trademark I-8091 2-axis Stepping/Servo Motor Control Card FeaturesI-8091 Contents 1.1 System Block Diagram 1. Introduction1.2 DDA Technology Example Stepping Motor Example Pulse type input Servo Motor 2.1 I-8000 hardware address 2 HardwareI-8000, 4 slots I-8000, 8 slots 2.2 Registers of I-8091 board 2.3 LED Indicator 2.4 Hardware Configuration 2.4.1 Limit switch configuration Y axis2.4.4 Turn Servo ON/OFF Hold ON/OFF 2.4.2 Output pulse mode configuration2.4.3 Direction configuration 2.4.5 Automatic protection2.4.6 Set limit switch as normal close condition 2.5.1 Pin assignment of connector CN2 2.5 Connection2.5.3 The internal circuit of limit switch input Version 1.0 06/2001 2.5.4 Example of connectionI-8091 User Manual 2-16S8090 card I-8091 User ManualVersion 1.0 06/2001 2-173.1 Functions 3. SoftwareConstants 2-19 I-8091 User ManualVersion 1.0 06/2001 ICPDASunsigned int 3.1.1 Setting commands2 i8091RESETSYSTEM unsigned char cardNo LowSpeedHigh Speed≤ DDA cycle≤Low Speed ≤ LowSpeed = AccDec6 i8091SETSERVOONunsigned char cardNo 5 i8091SETMODEunsigned char cardNo, unsigned char modeXunsigned char modeY unsigned char sonX, unsigned char sonYcardNo card number 0~19 Limit switches ORG1, LS11, LS14, ORG2, LS21, LS24, EMGnormal open default sw 0NO3.1.2 Stop Commands 11 i8091EMGSTOPunsigned char cardNounsigned char DIR, unsigned char AXIS 3.1.3 Simple motion commands12 i8091LSPORGunsigned char cardNo 14 i8091LSPPULSEMOVEunsigned char cardNounsigned char AXIS, long pulseN 15 i8091HSPPULSEMOVEunsigned char cardNo16 i8091LSPMOVEunsigned char cardNo unsigned char DIR, unsigned char AXISLow speed 17 i8091HSPMOVEunsigned char cardNounsigned char DIR, unsigned char AXIS high speedcommand i8091STOPX, i8091STOPY, i8091STOPALL, or i8091SLOWSTOP 2-29 I-8091 User ManualVersion 1.0 06/2001 ICPDAS3.1.4 Interpolation commands − 2047≤ # Xpulse≤ − 2047≤ #Ypulse≤23 i8091INTPLINE02unsigned char cardNo, long x, long y #Ypulse≤unsigned int speed unsigned char accmode Y X,Y CW X CCW where r adius = sqr tX2 + Y2 #≤ R 2− #≤ x 2−#≤ y 2− R ≥26 unsigned char i8091INTPSTOP i8091INTPLINE02, i8091INTPCIRCLE02 and3.1.5 Others Page 3.2 Start up and end of program i8091RESETSYSTEMCARD1end of program i8091RESETSYSTEMCARD1 Start up program2-38 I-8091 User ManualVersion 1.0 06/2001 ICPDAS4. Example 4.1 Detect I-8091 cardI-8091 User Manual 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp Version 1.0 06/2001