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ICP DAS USA I-8091 2-axis stepping/servo user manual Introduction, System Block Diagram

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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1. Introduction

I-8091 User ManualVersion 1.0 06/2001

1. Introduction

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1.1 System Block Diagram

The I-8091 stepping motor control card is a micro-computer controlled, 2-axis pulse generation card. It includes a 2Kbytes-FIFO to receive motion command from host, a micro-computer for profile generation and protection, 2-axis DDA chip to execute DDA function when interpolation command is used, 2500Vrms optical isolation inserted for industrial application.

2K FIFO

Interface

Bus

CPU

Profile Generation

Protection

Limit Switch

Input Port

DDA Chip

X-axis

DDA Chip

Y-axis

Optical Isolation

Connector

Limit Switch

Limit Switch Signal

Input Port

Fig.(1) block diagram of I-8091 card

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ICP DAS USA I-8091 2-axis stepping/servo, I-8090 3-axis encoder card user manual Introduction, System Block Diagram

Contents

Part 2 I-8091 2-axis stepping/servo control card User Manual Part 1 I-8090 3-axis encoder cardI-8090/I-8091 User Manual Version 1.0 06/2001I-8090/I-8091 User ManualVersion 1.0 06/2001 I-8090 ContentsI-8091 Contents I-8090 3-axis encoder card User Manual Version 1.0 06/2001 EditionCopyright Copyright 2001 by ICP DAS. All right are reserved Trademark I-8090 3-axis encoder card Features8090 Contents 1. Hardware 1.1 I-8000 hardware addressI-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 power 1.3 LED Indicator1C 2A I-8090 User Manual1.4 Connection Encoder I-8090 User Manual EncoderVersion 06/2001S8091 card I-8090 User ManualVersion 1.0 06/2001 S8090 card2.1 constants and functions 2. SoftwareConstants Functionsaddress hardware address which defined at chapter 5 unsigned char i8090GETINDEXunsigned char cardNo 4 void i8090RESETENCODERunsigned char cardNo, unsigned char axis7 void i8090RESETENCODER32unsigned char cardNo, unsigned char axis 32 bits encoder counts command sets6 void i8090ENCODER32ISRunsigned char cardNo 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 0 ShowLedValuexvalue,Xaxis break switch ShowAxiscase 1 ShowLedValueyvalue,Yaxis break case 2 ShowLedValuezvalue,Zaxis breakI-8091 2-axis stepping/servo motor control card User Manual Version 1.0 06/2001 EditionCopyright 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 Hardware 2.1 I-8000 hardware addressI-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 configuration2.4.3 Direction configuration 2.4.2 Output pulse mode configuration2.4.4 Turn Servo ON/OFF Hold ON/OFF 2.4.5 Automatic protection2.4.6 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 I-8091 User Manual 2.5.4 Example of connectionVersion 1.0 06/2001 2-16Version 1.0 06/2001 I-8091 User ManualS8090 card 2-173. Software 3.1 FunctionsConstants Version 1.0 06/2001 I-8091 User Manual2-19 ICPDAS2 i8091RESETSYSTEM unsigned char cardNo 3.1.1 Setting commandsunsigned int LowSpeedLow Speed ≤ DDA cycle≤High Speed≤ LowSpeed = AccDecunsigned char modeY 5 i8091SETMODEunsigned char cardNo, unsigned char modeX6 i8091SETSERVOONunsigned char cardNo unsigned char sonX, unsigned char sonYnormal open default Limit switches ORG1, LS11, LS14, ORG2, LS21, LS24, EMGcardNo card number 0~19 sw 0NO11 i8091EMGSTOPunsigned char cardNo 3.1.2 Stop Commands12 i8091LSPORGunsigned char cardNo 3.1.3 Simple motion commandsunsigned char DIR, unsigned char AXIS 14 i8091LSPPULSEMOVEunsigned char cardNo16 i8091LSPMOVEunsigned char cardNo 15 i8091HSPPULSEMOVEunsigned char cardNounsigned char AXIS, long pulseN unsigned char DIR, unsigned char AXISunsigned char DIR, unsigned char AXIS 17 i8091HSPMOVEunsigned char cardNoLow speed high speedcommand i8091STOPX, i8091STOPY, i8091STOPALL, or i8091SLOWSTOP Version 1.0 06/2001 I-8091 User Manual2-29 ICPDAS− 2047≤ # Xpulse≤ − 2047≤ #Ypulse≤ 3.1.4 Interpolation commands#Ypulse≤ 23 i8091INTPLINE02unsigned char cardNo, long x, long yunsigned int speed unsigned char accmode Y X,Y CW X CCW where r adius = sqr tX2 + Y2 #≤ y 2− #≤ x 2−#≤ R 2− R ≥i8091INTPLINE02, i8091INTPCIRCLE02 and 26 unsigned char i8091INTPSTOP3.1.5 Others Page end of program i8091RESETSYSTEMCARD1 i8091RESETSYSTEMCARD13.2 Start up and end of program Start up programVersion 1.0 06/2001 I-8091 User Manual2-38 ICPDAS4.1 Detect I-8091 card 4. Example4.3 ExampleDEMO1.cpp 4.2 Example DEMO.cppI-8091 User Manual Version 1.0 06/2001