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ICP DAS USA I-8090 3-axis encoder card user manual Connection, Pin assignment of connector CN2

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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2.5Connection

I-8091 User Manual

Version 1.0 06/2001

2.5Connection

2.5.1Pin assignment of connector CN2

CN2

DB25M-90


			+5V	1
					14
		CW_PULSE1		2
	CW_PULSE2					15

		CCW_DIR1		3

	CCW_DIR2				16

		HOLD1		4

	HOLD2				17

			GND		5

		EXT_VCC (12~24V)			18
						6
					19
		ORG1			7
	ORG2				20

		LS11		8

	LS21				21

				9

				22
				10
				23
		LS14		11
	LS24				24

		EMG		12

				25
		EXT_GND
					13

Fig.(8) CN2 connector

Table of CN2 connector’s pin assignment

pin name	pin	Description
	number
+5V	1	Internal +5V power, Max. output current: 50mA
CW_PULSE1	2	X-axis CW (Pulse) output pin
CCW_DIR1	3	X-axis CCW (Direction) output pin
HOLD1	4	X-axis HOLD (servo on) output pin
GND	5	Signal ground of pin 2,3,4
EXT_VCC	6	External power(12~24V) for limit switches
/ORG1	7	X-axis original (home) limit switch
/LS11	8	X-axis limit switch
	9,10	No used
/LS14	11	X-axis limit switch
/EMG	12	Emergency input
EXT_GND	13	External ground for limit switch
+5V	14	Internal +5V power, Max. output current: 50mA
CW_PULSE2	15	Y-axis CW (Pulse) output pin
CCW_DIR2	16	Y-axis CCW (Direction) output pin
HOLD2	17	Y-axis HOLD (servo on) output pin
GND	18	Signal ground of pin 15,16,17

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ICP DAS USA I-8090 3-axis encoder card, I-8091 2-axis stepping/servo user manual Connection, Pin assignment of connector CN2

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 Quadrant Counting Mode counterFig3 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 program2-38 Version 1.0 06/2001ICPDAS 4.1 Detect I-8091 card 4. Example2-40 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp Version 1.0 06/2001