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ICP DAS USA I-8090 3-axis encoder card I-8091 2-axis Stepping/Servo Motor Control Card, Features

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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I-8091 User Manual

Version 1.0 06/2001

I-8091 2-axis Stepping/Servo Motor Control Card

The I-8091 card is a 2-axis command-type stepping motor control card on I-8000 platform, it also can be used as servo motor control (pulse input type). This card has an embedded CPU which performs motion commands transfered from I-8000 main system to increase the system performance. A 2Kbytes-FIFO is introduced as command buffer. This buffer can provide over 700ms buffer time.

Asystem including I-8000(main system), I-8091(2-axis stepping/servo control card), I-8090(3-axis encoder card) can be implemented as a stand along motion controller system for low cost automatical machine.

Features

!I-8000 series.

!2-axis independent, simultaneous stepping motor control / servo motor control (pulse input type).

!Maximum pulse rate: 1Mpps.

!Maximum step counts: 232 − 1 steps.

!DOS driver.

!embedded CPU.

!command type interface.

!2-axis linear, 2-axis circular interpolation.

!automatic trapezoidal acceleration / deceleration.

!output pulse modes : CW/CCW or pulse/direction.

!output polarity can be programmable.

!2500Vrms optical isolated signal output.

!3 optical isolated digital inputs per axis for limit switches.

!programmable limit switch initial condition as normal open(N.O.) or normal close(N.C.).

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ICP DAS USA I-8090 3-axis encoder card user manual I-8091 2-axis Stepping/Servo Motor Control Card, Features

Contents

Version 1.0 06/2001 User Manual Part 1 I-8090 3-axis encoder cardPart 2 I-8091 2-axis stepping/servo control card I-8090/I-8091 User ManualI-8090/I-8091 User ManualVersion 1.0 06/2001 I-8090 ContentsI-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 I-8090 3-axis encoder card Features8090 Contents 1.1 I-8000 hardware address 1. HardwareI-8000, 4 slots I-8000, 8 slots 1.2 Registers of I-8090 board counter Quadrant Counting ModeFig3 CW/CCW counting mode 10 Pulse/Direction counting mode I-8090 User Manual 1.3 LED Indicatorpower 1C 2A1.4 Connection Encoder 06/2001 EncoderI-8090 User Manual VersionS8090 card I-8090 User ManualS8091 card Version 1.0 06/2001Functions 2. Software2.1 constants and functions Constantsaddress hardware address which defined at chapter 5 unsigned char i8090GETINDEXunsigned char cardNo 4 void i8090RESETENCODERunsigned char cardNo, unsigned char axis8 long i8090GETENCODER32unsigned char cardNo, unsigned char axis 32 bits encoder counts command sets7 void i8090RESETENCODER32unsigned char cardNo, unsigned char axis 6 void i8090ENCODER32ISRunsigned char cardNo2.2 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 2 ShowLedValuezvalue,Zaxis break switch ShowAxiscase 0 ShowLedValuexvalue,Xaxis break case 1 ShowLedValueyvalue,Yaxis 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 Features I-8091 2-axis Stepping/Servo Motor Control CardI-8091 Contents 1. Introduction 1.1 System Block Diagram1.2 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 Y axis 2.4 Hardware Configuration 2.4.1 Limit switch configuration2.4.5 Automatic protection 2.4.2 Output pulse mode configuration2.4.3 Direction configuration 2.4.4 Turn Servo ON/OFF Hold ON/OFF2.4.6 Set limit switch as normal close condition 2.5 Connection 2.5.1 Pin assignment of connector CN22.5.3 The internal circuit of limit switch input 2-16 2.5.4 Example of connectionI-8091 User Manual Version 1.0 06/20012-17 I-8091 User ManualVersion 1.0 06/2001 S8090 card3.1 Functions 3. SoftwareConstants ICPDAS I-8091 User ManualVersion 1.0 06/2001 2-19LowSpeed 3.1.1 Setting commands2 i8091RESETSYSTEM unsigned char cardNo unsigned intLowSpeed = AccDec DDA cycle≤Low Speed ≤ High Speed≤unsigned char sonX, unsigned char sonY 5 i8091SETMODEunsigned char cardNo, unsigned char modeXunsigned char modeY 6 i8091SETSERVOONunsigned char cardNosw 0NO Limit switches ORG1, LS11, LS14, ORG2, LS21, LS24, EMGnormal open default cardNo card number 0~1911 i8091EMGSTOPunsigned char cardNo 3.1.2 Stop Commands14 i8091LSPPULSEMOVEunsigned char cardNo 3.1.3 Simple motion commands12 i8091LSPORGunsigned char cardNo unsigned char DIR, unsigned char AXISunsigned char DIR, unsigned char AXIS 15 i8091HSPPULSEMOVEunsigned char cardNo16 i8091LSPMOVEunsigned char cardNo unsigned char AXIS, long pulseNhigh speed 17 i8091HSPMOVEunsigned char cardNounsigned char DIR, unsigned char AXIS Low speedcommand i8091STOPX, i8091STOPY, i8091STOPALL, or i8091SLOWSTOP ICPDAS I-8091 User ManualVersion 1.0 06/2001 2-29− 2047≤ # Xpulse≤ − 2047≤ #Ypulse≤ 3.1.4 Interpolation commands23 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 ≥ #≤ x 2−#≤ y 2− #≤ R 2−i8091INTPLINE02, i8091INTPCIRCLE02 and 26 unsigned char i8091INTPSTOP3.1.5 Others Page Start up program i8091RESETSYSTEMCARD1end of program i8091RESETSYSTEMCARD1 3.2 Start up and end of programICPDAS I-8091 User ManualVersion 1.0 06/2001 2-384.1 Detect I-8091 card 4. ExampleVersion 1.0 06/2001 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp I-8091 User Manual