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ICP DAS USA I-8090 3-axis encoder card user manual Hardware, 1.1 I-8000 hardware address

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. Hardware

I-8090 User Manual		Version 1.0 06/2001
1. Hardware		_

1.1 I-8000 hardware address

The hardware address of I-8000 main system is fixed as following table. There are 4 slots I-8000 and 8 slots I-8000.

	Slot 1	Slot 2	Slot 3	Slot 4	Slot 5	Slot 6	Slot 7	Slot 8
I-8000, 4 slot	0x080	0x0A0	0x0C0	0x0E0	---	---	---	---
Address
I-8000, 8 slot	0x080	0x0A0	0x0C0	0x0E0	0x140	0x160	0x180	0x1A0
Address

I-8000, 4 slots

I-8000, 8 slots

Slot 1 Slot 2 Slot 3 Slot 4

88888

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8

88888

Fig(1) I-8000 hardware address

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ICP DAS USA I-8090 3-axis encoder card user manual Hardware, 1.1 I-8000 hardware address, I-8000, 4 slots I-8000, 8 slots

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 counter Quadrant Counting ModeFig3 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 programICPDAS I-8091 User ManualVersion 1.0 06/2001 2-384.1 Detect I-8091 card 4. ExampleVersion 1.0 06/2001 4.2 Example DEMO.cpp4.3 ExampleDEMO1.cpp I-8091 User Manual