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

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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1.2 DDA Technology

I-8091 User Manual

Version 1.0 06/2001

1.2 DDA Technology

The DDA chip is the heart of I-8091 card, it will generate equal-space pulse train corresponding to specific pulse number during a DDA period. This mechanism is very useful to execute pulse generation and interpolation function. The DDA period can be determined by DDA cycle. Table(1) shows the relation among DDA cycle, DDA period and output pulse rate. When DDA cycle set to 1, the DDA period is equal to (1+1)x1.024ms = 2.048ms. The output pulse number can be set to 0~2047, therefore the maximum output pulse rate will be 1Mpps. The minimum output pulse rate is 3.83pps when set DDA cycle=254 (DDA period = (254+1)x1.024ms = 261.12ms).

DDA period

DDA cycle

X pulse = 3

Y pulse = 6

Z pulse = 4

Fig.(2) DDA mechanism

Table(1) The Relation among DDA cycle, DDA period and output pulse rate.

DDA cycle	DDA period	Max. pulse	Min. pulse rate (n=1)
		rate(n=2047)
1	2.048ms	999511pps	488pps
2	3.072ms	666341pps	325pps
3	4.096ms	.	.
.	.	.	.
N	(N+1)*1.024ms	2047/(DDA period)	1/(DDA period)
.	.	.	.
254	261.12ms	7839pps	3.83pps

The DDA cycle can be set by i8091_SET_VAR() command which decribed in charpter 3. The selection criterion of DDA cycle was described as following.

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

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 counter Quadrant Counting ModeFig3 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 Version 1.0 06/2001ICPDAS 4. Example 4.1 Detect I-8091 cardVersion 1.0 06/2001 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp 2-40