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ICP DAS USA I-8091 2-axis stepping/servo 5 i8091SETMODEunsigned char cardNo, unsigned char modeX

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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(5)i8091_SET_MODE(unsigned char cardNo, unsigned char modeX,

I-8091 User Manual

Version 1.0 06/2001

1: REVERSE_DIR

(5)i8091_SET_MODE(unsigned char cardNo, unsigned char modeX,

	unsigned char modeY)
I-8091 card provide two kind output method.
cardNo : board number 0~19.
modeX : X axis output mode
modeY : Y axis output mode
0	: CW_CCW	CW/CCW mode
1	: PULSE_DIR	Pulse/Direction mode

CW

Mode = 0 (CW_CCW)

CCW

Pulse

Mode = 1 (PULSE_DIR)

Direction

Example: i8091_SET_MODE(1,CW_CCW, PULSE_DIR);

(6) i8091_SET_SERVO_ON(unsigned char cardNo,

unsigned char sonX, unsigned char sonY)

To turn servo motor into servo ON(OFF) state, or turn stepping motor into hold ON(OFF) state.

cardNo : board number 0~19.

sonX : X axis servo/hold on switch

sonY : Y axis servo/hold on switch 1 : ON

0 : OFF

(7)i8091_SET_NC(unsigned char cardNo, unsigned char sw); To set all of the following limit switches as N.C.(normal close) or N.O.(normal open). If set as N.O., those limit switches are active low. If

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Image 51

ICP DAS USA I-8091 2-axis stepping/servo 5 i8091SETMODEunsigned char cardNo, unsigned char modeX, unsigned char modeY

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 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 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 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 configuration2.4.5 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. Software 3.1 FunctionsConstants 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 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 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 programVersion 1.0 06/2001 2-38ICPDAS 4.1 Detect I-8091 card 4. Example2-40 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp Version 1.0 06/2001