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ICP DAS USA user manual I-8090 3-axis encoder card User Manual, Version 1.0 06/2001 Edition

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-8090 User Manual

Version 1.0 06/2001

I-8090

3-axis encoder card

User Manual

Version 1.0 06/2001 Edition

Warranty: All products manufactured by ICP DAS are warranted against defective materials for one year from the date of delivery to the original purchaser

Warning: ICP DAS assumes no liability for damage consequent to the use of this product. ICP DAS reserves the right to change this manual at any time without notice. The information furnished by ICP DAS is believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for it’s use, nor for any infringements of patents or other rights of third parties resulting from it’s use.

Copyright

Copyright 2001 by ICP DAS. All right are reserved

Trademark

The names used for identification only maybe registered trademarks of their respective companies.

http://www.icpdas.com

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ICPDAS

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ICP DAS USA I-8091 2-axis stepping/servo user manual I-8090 3-axis encoder card User Manual, Version 1.0 06/2001 Edition

Contents

User Manual Part 1 I-8090 3-axis encoder card Part 2 I-8091 2-axis stepping/servo control cardI-8090/I-8091 User Manual 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 1.3 LED Indicator power1C 2A I-8090 User Manual1.4 Connection Encoder Encoder I-8090 User ManualVersion 06/2001I-8090 User Manual S8091 cardVersion 1.0 06/2001 S8090 card2. Software 2.1 constants and functionsConstants Functionsaddress hardware address which defined at chapter 4 void i8090RESETENCODERunsigned char cardNo, unsigned char axis 5 unsigned char i8090GETINDEXunsigned char cardNo32 bits encoder counts command sets 7 void i8090RESETENCODER32unsigned char cardNo, unsigned char axis6 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 switch ShowAxis case 0 ShowLedValuexvalue,Xaxis breakcase 1 ShowLedValueyvalue,Yaxis 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 axis2.4.2 Output pulse mode configuration 2.4.3 Direction configuration2.4.4 Turn Servo ON/OFF Hold ON/OFF 2.4.5 Automatic protection2.4.6 Set limit switch as normal close condition 2.5.1 Pin assignment of connector CN2 2.5 Connection2.5.3 The internal circuit of limit switch input 2.5.4 Example of connection I-8091 User ManualVersion 1.0 06/2001 2-16I-8091 User Manual Version 1.0 06/2001S8090 card 2-173.1 Functions 3. SoftwareConstants I-8091 User Manual Version 1.0 06/20012-19 ICPDAS3.1.1 Setting commands 2 i8091RESETSYSTEM unsigned char cardNounsigned int LowSpeedDDA cycle≤ Low Speed ≤High Speed≤ LowSpeed = AccDec5 i8091SETMODEunsigned char cardNo, unsigned char modeX unsigned char modeY6 i8091SETSERVOONunsigned char cardNo unsigned char sonX, unsigned char sonYLimit switches ORG1, LS11, LS14, ORG2, LS21, LS24, EMG normal open defaultcardNo card number 0~19 sw 0NO3.1.2 Stop Commands 11 i8091EMGSTOPunsigned char cardNo3.1.3 Simple motion commands 12 i8091LSPORGunsigned char cardNounsigned char DIR, unsigned char AXIS 14 i8091LSPPULSEMOVEunsigned char cardNo15 i8091HSPPULSEMOVEunsigned char cardNo 16 i8091LSPMOVEunsigned char cardNounsigned char AXIS, long pulseN unsigned char DIR, unsigned char AXIS17 i8091HSPMOVEunsigned char cardNo unsigned char DIR, unsigned char AXISLow speed high speedcommand i8091STOPX, i8091STOPY, i8091STOPALL, or i8091SLOWSTOP I-8091 User Manual Version 1.0 06/20012-29 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 #≤ x 2− #≤ y 2−#≤ R 2− R ≥26 unsigned char i8091INTPSTOP i8091INTPLINE02, i8091INTPCIRCLE02 and3.1.5 Others Page i8091RESETSYSTEMCARD1 end of program i8091RESETSYSTEMCARD13.2 Start up and end of program Start up program2-38 Version 1.0 06/2001ICPDAS 4. Example 4.1 Detect I-8091 card4.2 Example DEMO.cpp 4.3 ExampleDEMO1.cppVersion 1.0 06/2001 2-40