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ICP DAS USA 3-axis encoder card, 2-axis stepping/servo user manual Registers of I-8091 board

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

2.2 Registers of I-8091 board

The I-8091 card’s registers table as following.

Register

Add.

R/W

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ID

0x00

R

0x0E

LIMIT1

0x01

R

/EMG

/FFFF

/FFEF

/LS14

/LS11

/ORG1

LIMIT2

0x02

R

/YSTOP

/XSTOP

/LS24

/LS21

/ORG2

WRFF

0x01

W

Command port

RSTFF

0x02

W

Reset FIFO

Register

Add.

R/W

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ID

0x00

R

0x0E

The ID register is read only and its value is fixed as 0x0E. User can check this register to identify I-8091 card or not.

Register	Add.	R/W	Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
LIMIT1	0x01	R	/EMG	/FFFF	/FFEF	/LS14			/LS11	/ORG1

/ORG1 : original point limit switch of X-axis.

/LS11, /LS14 : limit switches of X-axis, which must be configured as chapter 2.4.1.

/EMG : emergency switch.

/FFEF : active low, indicate FIFO is empty.

/FFFF : active low, indicate FIFO is full.

Register	Add.	R/W	Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
LIMIT2	0x02	R	/YSTOP	/XSTOP		/LS24			/LS21	/ORG2

/ORG2 : original point switch of Y-axis.

/LS21, /LS24 : limit switches of Y-axis, which must be configured as chapter 2.4.1.

/XSTOP, /YSTOP : These signals indicate the operating situation of X, Y axis in CPU.

1 : busy, 0 : stop

The commands i8091_WAIT_X( ) and i8091_WAIT_Y( ) just to waiting for

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ICP DAS USA 3-axis encoder card, 2-axis stepping/servo, I-8091 2-axis stepping/servo user manual Registers of I-8091 board

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 Copyright Copyright 2001 by ICP DAS. All right are reserved Trademark I-8090 3-axis encoder card User ManualVersion 1.0 06/2001 Edition Features I-8090 3-axis encoder card8090 Contents I-8000, 4 slots I-8000, 8 slots 1. Hardware1.1 I-8000 hardware address 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 breakCopyright Copyright 2001 by ICP DAS. All right are reserved Trademark I-8091 2-axis stepping/servo motor control card User ManualVersion 1.0 06/2001 Edition 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 I-8000, 4 slots I-8000, 8 slots 2 Hardware2.1 I-8000 hardware address 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 2-17Constants 3. Software3.1 Functions 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≤unsigned int speed unsigned char accmode #Ypulse≤23 i8091INTPLINE02unsigned char cardNo, long x, long y 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 programICPDAS Version 1.0 06/20012-38 4. Example 4.1 Detect I-8091 cardVersion 1.0 06/2001 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp 2-40