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I-8090/I-8091 User Manual Version 1.0 06/2001
User Manual
Part 1: I-8090 3-axis encoder card
Part 2: I-8091 2-axis stepping/servo
control card
http://www.icpdas.com ICPDAS
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I-8090/I-8091 User Manual Version 1.0 06/2001 I-8090 Contents _ 1. Hardware 1-4 1.1 I-8000 hardware address 1-4 1.2 Registers of I-8090 Board 1-5 1.3 LED indicator 1-8 1.4 Connection 1-9 2. Software 1-13 2.1 Constants and Functions 1-13 2.2 Eaxmples 1-17 2.2.1 Detect I-8090 card 1-17 2.2.2 Start to use I-8090 card 1-18 2.2.3 Get X, Y, Z-axis encoder counter’s value 1-18 2.2.4 Software 32 bits encoder counter programming 1-20 http:
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I-8090/I-8091 User Manual Version 1.0 06/2001 I-8091 Contents _ 1. Introduction 2-4 1.1 System Block Diagram 2-4 1.2 DDA technology 2-5 2. Hardware 2-8 2.1 I-8000 hardware address 2-8 2.2 Register of I-8091 board 2-9 2.3 LED indicator 2-10 2.4 Hardware configuration 2-11 2.4.1 Limit switch configuration 2-11 2.4.2 Output pulse mode configuration 2-12 2.4.3 Direction configuration 2-12 2.4.4 Turn Servo ON/OFF (Hold ON/OFF) 2-12 2.4
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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 r
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I-8090 User Manual Version 1.0 06/2001 I-8090 3-axis encoder card I-8090 is a 3-axis encoder counter board on I-8000 platform. I-8090 encoder card has internal digital filter, 16 bits counter and high counting rate 1Mpps. The application of I-8090 board is position/distance measurement, velocity measurement, feedback for motor control, handwheel input and so on. A system including I-8000 (main system), I-8091 (2-axis stepping/servo control card), I-8090 (3-axis encoder card) can be impleme
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I-8090 User Manual Version 1.0 06/2001 8090 Contents _ 1. Hardware 1-4 1.1 I-8000 hardware address 1-4 1.2 Registers of I-8090 Board 1-5 1.3 LED indicator 1-8 1.4 Connection 1-9 2. Software 1-13 2.1 Constants and Functions 1-13 2.2 Eaxmples 1-17 2.2.1 Detect I-8090 card 1-17 2.2.2 Start to use I-8090 card 1-18 2.2.3 Get X, Y, Z-axis encoder counter’s value 1-18 2.2.4 Software 32 bits encoder counter programming 1-20 http://www.i
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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 Slot 1 Slot 2 Slot 3 Slot 4 88888 I-8000, 4 slots S
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I-8090 User Manual Version 1.0 06/2001 1.2 Registers of I-8090 board The I-8090 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 0x0D XDATA 0x01 R X-axis encoder value YDATA 0x02 R Y-axis encoder value ZDATA 0x03 R Z-axis encoder value INDEX 0x04 R ZI YI XI XCTRL 0x00 W S1 S0 /RST /INH /SEL YCTRL 0x01 W S1 S0 /RST /INH /SEL ZCTRL 0x02 W S1 S0 /RST /INH /SEL Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ID 0x00
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I-8090 User Manual Version 1.0 06/2001 /SEL=0 (ZCTRL register), the high byte can be read out when set /SEL=1 (ZCTRL register). Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 INDEX 0x04 R ZI YI XI The index input C+/C- can read out from this register. These bits are active high. XI : indicate the index of X-axis (C+/C- input). YI : indicate the index of Y-axis (C+/C- input). ZI : indicate the index of Z-axis (C+/C- input). Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit
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I-8090 User Manual Version 1.0 06/2001 CW CCW counter 12 32 1 X2=0 CW/CCW Counting Mode Fig(3) CW/CCW counting mode 10 : Pulse/Direction counting mode Pulse Direction counter 12 32 1 X2=0 Pulse/Direction Counting Mode Fig(4) Pulse/Direction counting mode Example: assign counting mode x_mode=y_mode=z_mode=0x00; card[cardNo].ctrl1 = 0x07 | x_mode; card[cardNo].ctrl2 = 0x07 | y_mode; card[cardNo].ctrl3 = 0x07 | z_mode; outportb(card[cardNo].base + WR1, card[cardNo].ctrl1); outportb(card[cardNo].
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I-8090 User Manual Version 1.0 06/2001 1.3 LED Indicator power 3B 3A 1A 1B 1C 2A 2B 2C Fig(5) I-8090 LED indicator Where 1A, 1B, 1C indicate X-axis’s 1A+/1A-, 1B+/1B-, 1C+/1C- signal input. 2A, 2B, 2C indicate Y-axis’s 2A+/2A-, 2B+/2B-, 2C+/2C- signal input. 3A, 3B, indicate Z-axis’s 3A+/3A-, 3B+/3B- signal input. http://www.icpdas.com 1-8 ICPDAS
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I-8090 User Manual Version 1.0 06/2001 1.4 Connection CN2 DB25M-90 1A+ 1 1A- 14 1B+ 2 1B- 15 1C+ 3 1C- 16 4 E5V 17 EGND 2A+ 5 2A- 18 2B+ 6 2B- 19 2C+ 7 2C- 20 8 E5V 21 EGND 3A+ 9 3A- 22 3B+ 10 3B- 23 3C+ 11 3C- 24 E5V 12 25 EGND 13 EGND Fig (6) Pin out of CN2 connector Table of CN2 connector Pin name Pin number description 1A+ 1 A+ input of X-axis encoder 1A- 14 A- input of X-axis encoder 1B+ 2 B+ input of X-axis encoder 1B- 15 B- input of X-axis encoder 1C+ 3 C+ input of X-axis encoder 1C- 1
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I-8090 User Manual Version 1.0 06/2001 E5V 8 Isolated 5V supply, max. 50mA (sum of pin 4,8,12) EGND 21 Signal ground 3A+ 9 A+ input of Z-axis encoder 3A- 22 A- input of Z-axis encoder 3B+ 10 B+ input of Z-axis encoder 3B- 23 B- input of Z-axis encoder 3C+ 11 C+ input of Z-axis encoder 3C- 24 C- input of Z-axis encoder E5V 12 Isolated 5V supply, max. 50mA (sum of pin 4,8,12) EGND 25 Signal ground EGND 13 Signal ground CN2 DB25M-90 1A+ 1 A+ 1A- 14 A- 1B+ 2 B+ 1B- 15 B- 1C+ 3 C+ Encoder 1C- 16 C
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I-8090 User Manual Version 1.0 06/2001 CN2 DB25M-90 A+ 1A+ 1 1A- 14 B+ 2 1B+ 1B- 15 C+ 3 1C+ Encoder 1C- 16 E5V 4 EGND 17 5 2A+ 2A- 18 6 2B+ 19 2B- 7 2C+ 20 5V 2C- 8 GND E5V 21 EGND 9 3A+ 22 3A- 3B+ 10 23 3B- 11 3C+ 24 3C- 12 E5V EGND 25 13 EGND Fig (8) Connection between open collecter type encoder and I-8090 card CN2 DB25M-90 1A+ 1 CW/PULSE 1A- 14 2 1B+ CCW/DIR 1B- 15 3 1C+ INDEX 1C- 16 E5V 4 EGND 17 5 2A+ 18 2A- 6 2B+ 19 2B- 7 2C+ 20 2C- 8 E5V 21 EGND 9 3A+ 22 3A- 3B+ 10 23 3B- 11 3C+ 3C-
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I-8090 User Manual Version 1.0 06/2001 CN2 CN2 DB25M-90 DB25M-90 S5V 1 1A+ 1 14 1A- 14 2 1B+ 2 CW_PULSE1 CW_PULSE2 15 1B- 15 CCW_DIR1 3 1C+ 3 CCW_DIR2 16 1C- 16 4 4 HOLD1 E5V 17 EGND 17 HOLD2 2A+ SGND 5 5 18 2A- 18 EXT_VCC 6 2B+ 6 EXT_VCC 19 2B- 19 7 2C+ 7 (12V~24V) PHOME1 20 2C- 20 PHOME2 8 8 E5V PLS11 21 EGND 21 PLS21 9 9 3A+ 22 22 3A- 3B+ 10 10 23 23 3B- 11 11 3C+ PLS14 24 24 3C- PLS24 12 12 E5V PEMG 25 25 EGND EXT_GND 13 13 EGND S8091 card S8090 card Fig (10) The connection between I-8090
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I-8090 User Manual Version 1.0 06/2001 2. Software _ User’s applications could be compiled under DOS Turbo/Borland C/C++ environment. It should be include i8090.h and i8090.LIB to compile the target execution file. The execution files can be downloaded under I-8000 main system (execute 7188x.exe), and then run the target execution file as under PC system. About the I-8000’s resource or environment, please refer to the manual of I-800
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I-8090 User Manual Version 1.0 06/2001 address: hardware address which defined at chapter 1.1 Return: “YES” : registration successful “NO” : registration failure. Example: This example will assign I-8090 card address=0x080 as CARD1 (1). Then initial the I-8090 card and reset X,Y,Z axis encoder counter value to 0. #define CARD1 1 … i8090_REGISTRATION(CARD1, 0x080); i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT, ENC_QUADRANT); i8090_RESE
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I-8090 User Manual Version 1.0 06/2001 i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT, ENC_QUADRANT); (3) unsigned int i8090_GET_ENCODER(unsigned char cardNo, unsigned char axis) This command will return the counter value of the selected “axis” and “cardNo”. cardNo: 0~19, select which card. axis : select which axis. 1 : X-axis 2 : Y-axis 3 : Z-axis return : a 16 bits unsigned integer value. (4) void i8090_RESET_ENCODER(unsigned char cardNo, unsi
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I-8090 User Manual Version 1.0 06/2001 32 bits encoder counts command sets (6) void i8090_ENCODER32_ISR(unsigned char cardNo) (7) void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned char axis) (8) long i8090_GET_ENCODER32(unsigned char cardNo, unsigned char axis) cardNo: 0~19, select which card. axis : select which axis. 1 : X-axis 2 : Y-axis 3 : Z-axis The above three commands provided a software method to get 32 bits encoder counts. The i8090_ENCODER32_ISR(unsigned char ca
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I-8090 User Manual Version 1.0 06/2001 2.2 examples 2.2.1 Detect I-8090 card //--------------------------------------------------- // detect i8090,i8091,i8092 card //--------------------------------------------------- #include "8000.h" #include "i8090.h" #define i8090 0x0d #define i8091 0x0e #define i8092 0x0f #define NOCARD 0x00 #define MAX_SLOT_NO 8 unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160, 0x180, 0x1a0}; //---------------------------------------------------
