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
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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
1.2 DDA technology
2-4
2-5
2. Hardware
2-8
2.1 I-8000 hardware address
2.2 Register of I-8091 board
2.3 LED indicator
2-8
2-9
2-10
2-11
2-11
2-12
2-12
2-12
2-12
2-13
2-14
2-14
2.4 Hardware configuration
2.4.1 Limit switch configuration
2.4.2 Output pulse mode configuration
2.4.3 Direction configuration
2.4.4 Turn Servo ON/OFF (Hold ON/OFF)
2.4.5 Automatic protection
2.4.6 Set limit switch as normal close condition
2.5 Connection
2.5.1 Pin assignment of connector CN2
2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD
2.5.3 The internal circuit of limit switch input
2.5.4 Example of connection
2-15
2-15
2-16
2-18
2-18
2-20
2-24
2-25
2-30
2-35
2-37
2-39
2-39
2-40
2-40
3. Software
3.1 Functions
3.1.1 Setting commands
3.1.2 Stop commands
3.1.3 Simple motion commands
3.1.4 Interpolation commands
3.1.5 Others
3.2 Start up and end of program
4. Example
4.1 Detect I-8091 card
4.2 Example: DEMO.cpp
4.3 Example: DEMO1.cpp
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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.
1-1
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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 implemented as a
standalone motion controller system for low cost automatical machine.
Features
! I-8000 series.
! 3-axis, 16 bits encoder counter.
! 32 bits encoder counter by software.
! Maximum counting rate : 1M pulse/sec.
! Differential input A+, A-, B+, B-, C+, C-.
! Quadrant counting mode, CW/CCW counting mode, Pulse/Dir
counting mode.
! 2500V optical isolation
1-2
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I-8090 User Manual
Version 1.0 06/2001
8090 Contents
_
1. Hardware
1-4
1-4
1.1 I-8000 hardware address
1.2 Registers of I-8090 Board
1.3 LED indicator
1-5
1-8
1.4 Connection
1-9
2. Software
1-13
1-13
1-17
1-17
1-18
1-18
1-20
2.1 Constants and Functions
2.2 Eaxmples
2.2.1 Detect I-8090 card
2.2.2 Start to use I-8090 card
2.2.3 Get X, Y, Z-axis encoder counter’s value
2.2.4 Software 32 bits encoder counter programming
1-3
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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
Address
0x080 0x0A0 0x0C0 0x0E0
---
---
---
---
I-8000, 8 slot
Address
0x080 0x0A0 0x0C0 0x0E0 0x140 0x160 0x180 0x1A0
Slot 1 Slot 2 Slot 3 Slot 4
88888
I-8000, 4 slots
Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8
88888
I-8000, 8 slots
Fig(1) I-8000 hardware address
1-4
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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
YDATA 0x02 R
ZDATA 0x03 R
INDEX 0x04 R
XCTRL 0x00 W
YCTRL 0x01 W
ZCTRL 0x02 W
X-axis encoder value
Y-axis encoder value
Z-axis encoder value
ZI
YI
XI
S1
S1
S1
S0
S0
S0
/RST /INH /SEL
/RST /INH /SEL
/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 R 0x0D
The ID register is read only and its value is fixed as 0x0D. User can check this
register to identify I-8090 card or not.
Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
XDATA 0x01 R
X-axis encoder value
XDATA: the X-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set
/SEL=0 (XCTRL register), the high byte can be read out when set /SEL=1
(XCTRL register).
Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
YDATA 0x02 R
Y-axis encoder value
YDATA : the Y-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set
/SEL=0 (YCTRL register), the high byte can be read out when set /SEL=1
(YCTRL register).
Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ZDATA 0x03 R
Z-axis encoder value
ZDATA : the Z-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set
1-5
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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 2 Bit 1 Bit 0
XCTRL 0x00 W
YCTRL 0x01 W
ZCTRL 0x02 W
S1
S1
S1
S0
S0
S0
/RST /INH /SEL
/RST /INH /SEL
/RST /INH /SEL
The XCTRL,YCTRL and ZCTRL register are control registers for X-axis, Y-
axis, Z-axis respectively.
/RST : reset counter to zero
/INH : inhibit the counter data latch. This bit must be set 0 before read
out the counter value to inhibit the counter data latch to DATA
registers.
/SEL : to select low byte or high byte for reading the counter value.
0 : low byte
1 : high byte
S1, S0 : to select counting mode
00 : quadrant counting mode
A
B
counter
1
2
3 4 5
6
Quadrant Counting Mode
Fig(2) Quadrant counting mode
01 : CW/CCW counting mode
1-6
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I-8090 User Manual
Version 1.0 06/2001
CW
CCW
counter
X2=0
1
2
3
2
1
CW/CCW Counting Mode
Fig(3) CW/CCW counting mode
10 : Pulse/Direction counting mode
Pul se
Di r ect i on
counter
X2=0
1
2
3
2
1
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].base + WR2, card[cardNo].ctrl2);
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
Example: read X-axis encoder value
card[cardNo].ctrl1 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value = inportb(card[cardNo].base + RD1);
card[cardNo].ctrl1 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value += inportb(card[cardNo].base + RD1)*256;
card[cardNo].ctrl1 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
1-7
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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.
1-8
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I-8090 User Manual
Version 1.0 06/2001
1.4 Connection
CN2
DB25M-90
1A+
1A-
1B+
1B-
1C+
1C-
E5V
EGND
2A+
2A-
2B+
2B-
2C+
2C-
E5V
EGND
3A+
3A-
1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13
3B+
3B-
3C+
3C-
E5V
EGND
EGND
Fig (6) Pin out of CN2 connector
Table of CN2 connector
Pin name
1A+
1A-
Pin number
description
A+ input of X-axis encoder
1
14
2
A- input of X-axis encoder
B+ input of X-axis encoder
B- input of X-axis encoder
C+ input of X-axis encoder
C- input of X-axis encoder
1B+
1B-
15
3
1C+
1C-
16
4
E5V
EGND
2A+
2A-
Isolated 5V supply, max. 50mA (sum of pin 4,8,12)
Signal ground
17
5
A+ input of Y-axis encoder
A- input of Y-axis encoder
B+ input of Y-axis encoder
B- input of Y-axis encoder
C+ input of Y-axis encoder
C- input of Y-axis encoder
18
6
2B+
2B-
19
7
2C+
2C-
20
1-9
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E5V
EGND
3A+
8
Isolated 5V supply, max. 50mA (sum of pin 4,8,12)
Signal ground
21
9
A+ input of Z-axis encoder
A- input of Z-axis encoder
B+ input of Z-axis encoder
B- input of Z-axis encoder
C+ input of Z-axis encoder
C- input of Z-axis encoder
Isolated 5V supply, max. 50mA (sum of pin 4,8,12)
Signal ground
3A-
22
10
23
11
24
12
25
13
3B+
3B-
3C+
3C-
E5V
EGND
EGND
Signal ground
CN2
DB25M-90
1A+
1A-
1B+
1B-
1C+
1C-
E5V
EGND
2A+
2A-
1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
A+
A-
B+
B-
C+
C-
5V
GND
Encoder
2B+
2B-
2C+
2C-
E5V
EGND
3A+
9
22
10
23
11
24
12
25
13
3A-
3B+
3B-
3C+
3C-
E5V
EGND
EGND
Fig (7) Connection between encoder and I-8090 card
1-10
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I-8090 User Manual
Version 1.0 06/2001
CN2
DB25M-90
A+
B+
C+
1A+
1A-
1B+
1B-
1C+
1C-
1
14
2
15
3
Encoder
16
E5V
EGND
2A+
2A-
2B+
2B-
2C+
2C-
E5V
EGND
3A+
4
17
5
18
6
19
7
20
8
21
5V
GND
9
22
10
23
11
24
12
25
13
3A-
3B+
3B-
3C+
3C-
E5V
EGND
EGND
Fig (8) Connection between open collecter type encoder and I-8090 card
CN2
DB25M-90
1
14
2
15
3
1A+
1A-
1B+
1B-
1C+
1C-
CW/PULSE
CCW/DIR
INDEX
16
E5V
EGND
2A+
2A-
2B+
2B-
2C+
2C-
E5V
EGND
3A+
3A-
3B+
3B-
3C+
3C-
E5V
EGND
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13
EGND
Fig (9) The connection for CW/CCW or Pulse/Direction counting mode
1-11
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I-8090 User Manual
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CN2
CN2
DB25M-90
DB25M-90
S5V
1
14
2
15
3
16
4
17
5
1A+
1A-
1B+
1B-
1C+
1C-
E5V
1
14
2
15
3
16
4
17
5
CW_PULSE1
CW_PULSE2
CCW_DIR1
CCW_DIR2
HOLD1
HOLD2
SGND
EGND
2A+
18
6
19
7
20
8
21
9
2A-
2B+
2B-
2C+
2C-
E5V
EGND
3A+
18
6
19
7
20
8
21
9
EXT_VCC
EXT_VCC
(12V~24V)
PHOME1
PLS11
PHOME2
PLS21
22
10
23
11
24
12
25
13
22
10
23
11
24
12
25
13
3A-
3B+
3B-
3C+
3C-
E5V
EGND
EGND
PLS14
PEMG
PLS24
EXT_GND
S8091 card
S8090 card
Fig (10) The connection between I-8090 and I-8091 for function testing or
pulse feedback by I-8090 encoder card.
1-12
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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-8000 system or its software programming guide.
The following section will introduce the I-8090’s functions and examples.
2.1 constants and functions
Constants
#define YES 1
#define NO
#define ON
0
1
#define OFF 0
#define X_axis
#define Y_axis
#define Z_axis
1
2
3
#define ENC_QUADRANT 0x00
#define ENC_CW_CCW 0x10
#define ENC_PULSE_DIR 0x20
Functions
(1) unsigned char i8090_REGISTRATION(unsigned char cardNo,
unsigned int address)
In order to distinguish more than one I-8090 card in I-8000 platform,
the I-8090 cards should be registrated before using it. This command
will assign a card number=“cardNo” to I-8090 card address=”address” .
If there is not I-8090 at the given address, this command will return
“NO”.
cardNo: 0~19, assign the address as which card.
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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_RESET_ENCODER(CARD1, X_axis);
i8090_RESET_ENCODER(CARD1, Y_axis);
i8090_RESET_ENCODER(CARD1, Z_axis);
(2) void i8090_INIT_CARD(unsigned char cardNo,
unsigned char x_mode,
unsigned char y_mode,
unsigned char z_mode)
This command will reset all three axis’s counter value of “cardNo” card,
and assign its counting mode. The counting mode (S1,S0) has been
explained in registers XCTRL, YCTRL, ZCTRL.
cardNo: 0~19, select which card.
x_mode, y_mode, z_mode: select the counting mode.
0x00 : quadrant counting mode
0x10 : CW/CCW counting mode
0x20 : Pulse/Direction counting mode
Example:
#define ENC_QUADRANT 0x00
#define ENC_CW_CCW
0x10
#define ENC_PULSE_DIR 0x20
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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, unsigned
char axis)
This command will reset 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
(5) unsigned char i8090_GET_INDEX(unsigned char cardNo)
It will return the “INDEX” register’s value of the selected “cardNo” card.
cardNo: 0~19, select which card.
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.
YI : indicate the index of Y-axis.
ZI : indicate the index of Z-axis.
1-15
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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 cardNo) command
calculates the difference pulse between present and last time, and then
add this difference into a ”long type” variable. According to this idea, so,
the i8090_ENCODER32_ISR() command should be executed
periodically in 2~10ms by timer interrupt or manually call it.
The i8090_RESET_ENCODER32((unsigned char cardNo,
unsigned char axis) command can reset the “long type” variable to
zero.
The long i8090_GET_ENCODER32(unsigned char cardNo,
unsigned char axis) command can return the value of the “long type”
variable.
1-16
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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};
//---------------------------------------------------
void main ()
{
unsigned char slot,temp;
for (slot=0; slot<MAX_SLOT_NO; slot++)
{
temp=inportb(PortAddress[slot]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Print("Slot %d = i8090\r\n",SlotNum);
return i8090;
case i8091: //i8091 2-axis stepping card
Print("Slot %d = i8091\r\n",SlotNum);
return i8091;
case i8092: //i8092
Print("Slot %d = i8092\r\n",SlotNum);
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return i8092;
default:
Print("Slot %d = No Card\r\n",SlotNum);
return NOCARD;
};
Delay(500);
};
}
2.2.2 Start to use I-8090 card
#define CARD1 1
if (i8090_REGISTRATION(CARD1, PortAddress[0])==YES)
{
i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT,
ENC_QUADRANT);
i8090_RESET_ENCODER(CARD1, X_axis);
i8090_RESET_ENCODER(CARD1, Y_axis);
i8090_RESET_ENCODER(CARD1, Z_axis);
}
else
{
Print(“ Not found I-8090 card in slot 0!”);
return;
}
2.2.3 Get X, Y, Z-axis encoder counter’s value
unsigned int i8090_GET_ENCODER(unsigned char cardNo, unsigned char
axis)
{
unsigned int value;
switch (axis)
{
case X_axis:
1-18
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card[cardNo].ctrl1 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value = inportb(card[cardNo].base + RD1);
card[cardNo].ctrl1 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value += inportb(card[cardNo].base + RD1)*256;
card[cardNo].ctrl1 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
break;
case Y_axis:
card[cardNo].ctrl2 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
value = inportb(card[cardNo].base + RD2);
card[cardNo].ctrl2 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
value += inportb(card[cardNo].base + RD2)*256;
card[cardNo].ctrl2 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
break;
case Z_axis:
card[cardNo].ctrl3 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
value = inportb(card[cardNo].base + RD3);
card[cardNo].ctrl3 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
value += inportb(card[cardNo].base + RD3)*256;
card[cardNo].ctrl3 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
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break;
default : break;
}
return value;
}
2.2.4 Software 32 bits encoder counter programming
//--------------------------------------------------------------------
// demo1.cpp for I-8090 card
// This program demostrates the software 32 bits encoder method by
// void i8090_ENCODER32_ISR(unsigned char cardNo);
// void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned char
axis);
// long i8090_GET_ENCODER32(unsigned char cardNo, unsigned char
axis);
//--------------------------------------------------------------------
// v1.0 4/7/2001
//
//--------------------------------------------------------------------
#include <dos.h>
#include <math.h>
#include "8000.h"
#include "i8090.h"
#define i8090 0x0d
#define i8091 0x0e
#define i8092 0x0f
#define NOCARD 0x00
#define Insert
0x0000
0x0080
#define BasePort
#define SlotOffset
#define IDPort
0x0020
0x0000
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#define CARD1 1
#define CARD2 2
#define MAX_SLOT_NO 8
unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160,
0x180, 0x1a0};
//--------------------------------------------------------------------
long
long
long
x_value;
y_value;
z_value;
unsigned char index;
unsigned char x_index;
unsigned char y_index;
unsigned char z_index;
unsigned char i8090Slot;
//--------------------------------------------------------------------
//--------------------------------------------------------------------
void ShowLedValue(long value,unsigned char axis)
{
long j;
unsigned char negative_value;
if (value<0) negative_value=1;
else
negative_value=0;
value=labs(value);
j=value-10*(value/10);
if (negative_value) Show5DigitLedWithDot(0x05, j);
else
Show5DigitLed(0x05, j);
value=value/10;
j=value-10*(value/10);
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Show5DigitLed(0x04, j);
value=value/10;
j=value-10*(value/10);
if (axis==Z_axis) Show5DigitLedWithDot(0x03, j);
else
Show5DigitLed(0x03, j);
value=value/10;
j=value-10*(value/10);
if (axis==Y_axis) Show5DigitLedWithDot(0x02, j);
else
Show5DigitLed(0x02, j);
value=value/10;
j=value-10*(value/10);
if (axis==X_axis) Show5DigitLedWithDot(0x01, j);
else
Show5DigitLed(0x01, j);
}
//---------------------------------------------------
void ShowCardName(unsigned char SlotNum)
{
unsigned char temp;
Show5DigitLed(0x05, SlotNum);
temp=inportb(PortAddress[SlotNum]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Show5DigitLedSeg (0x01, 0x7F);
Show5DigitLedSeg (0x02, 0x7E);
Show5DigitLedSeg (0x03, 0x7B);
Show5DigitLedSeg (0x04, 0x7E);
break;
case i8091: //i8091 2-axis stepping card
Show5DigitLedSeg (0x01, 0x7F);
Show5DigitLedSeg (0x02, 0x7E);
Show5DigitLedSeg (0x03, 0x7B);
Show5DigitLedSeg (0x04, 0x30);
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break;
default:
Show5DigitLedSeg (0x01, 0x01);
Show5DigitLedSeg (0x02, 0x01);
Show5DigitLedSeg (0x03, 0x01);
Show5DigitLedSeg (0x04, 0x01);
break;
};
}
//---------------------------------------------------
unsigned char CardSearch(unsigned char SlotNum)
{
unsigned char temp;
temp=inportb(PortAddress[SlotNum]);
ShowCardName(SlotNum);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Print("Slot %d = i8090\r\n",SlotNum);
return i8090;
case i8091: //i8091 2-axis stepping card
Print("Slot %d = i8091\r\n",SlotNum);
return i8091;
default:
Print("Slot %d = No Card\r\n",SlotNum);
return NOCARD;
};
}
//---------------------------------------------------------------------------------
void main ()
{
unsigned char j;
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int
key,ShowAxis;
i8090Slot=99;
for (j=0; j<MAX_SLOT_NO; j++)
{
if (CardSearch(j)==i8090) i8090Slot=j;
Delay(500);
};
if (i8090Slot==99)
{
Print("Not found i8090 card in 8 slot!\r\n");
return;
}
i8090_REGISTRATION(CARD1, PortAddress[i8090Slot]);
i8090_INIT_CARD(CARD1,
ENC_QUADRANT);
ENC_QUADRANT,
ENC_QUADRANT,
i8090_RESET_ENCODER(CARD1, X_axis);
i8090_RESET_ENCODER(CARD1, Y_axis);
i8090_RESET_ENCODER(CARD1, Z_axis);
i8090_RESET_ENCODER32(CARD1, X_axis);
i8090_RESET_ENCODER32(CARD1, Y_axis);
i8090_RESET_ENCODER32(CARD1, Z_axis);
Print("-----------------------------------------------------------------------\r\n");
Print(" i8090 DEMO1 program
\r\n");
demo1.PRJ, demo1.cpp, i8090.lib
Print(" 32 bits encoder demostration
\r\n");
Print("-----------------------------------------------------------------------\r\n");
Print("Press any key to stop...\r\n");
ClearSystemKey();
ShowAxis=0;
do
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{
Delay(5); //delay 5ms
//---------------------------------------------------
// i8090_ENCODER32_ISR(CARD1) should be called in 2~10ms
// or call it by a timer interrupt service routine by 2~10ms
//---------------------------------------------------
i8090_ENCODER32_ISR(CARD1);
//---------------------------------------------------
x_value = i8090_GET_ENCODER32(CARD1, X_axis);
y_value = i8090_GET_ENCODER32(CARD1, Y_axis);
z_value = i8090_GET_ENCODER32(CARD1, Z_axis);
index = i8090_GET_INDEX(CARD1);
x_index = index & 0x01;
y_index = (index & 0x02) >> 1;
z_index = (index & 0x04) >> 2;
if (IsSystemKey())
{
key=GetSystemKey();
ClearSystemKey();
switch (key)
{
case SKEY_DOWN:
ShowAxis++;
if (ShowAxis>2) ShowAxis=0;
break;
case SKEY_UP:
ShowAxis--;
if (ShowAxis<0) ShowAxis=2;
break;
};
}
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switch (ShowAxis)
{
case 0: ShowLedValue(x_value,X_axis); break;
case 1: ShowLedValue(y_value,Y_axis); break;
case 2: ShowLedValue(z_value,Z_axis); break;
};
if (x_index) LedRunOff(); else LedRunOn();
if (y_index) LedCommOff(); else LedCommOn();
if (z_index) LedBattOff(); else LedBattOn();
} while (!Kbhit());
}
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I-8091
2-axis stepping/servo motor control 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.
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I-8091 2-axis Stepping/Servo Motor Control Card
The I-8091 card is a 2-axis command-type stepping motor control card
on I-8000 platform, it also can be used as servo motor control (pulse input
type). This card has an embedded CPU which performs motion commands
transfered from I-8000 main system to increase the system performance. A
2Kbytes-FIFO is introduced as command buffer. This buffer can provide over
700ms buffer time.
A system including I-8000(main system), I-8091(2-axis stepping/servo
control card), I-8090(3-axis encoder card) can be implemented as a stand
along motion controller system for low cost automatical machine.
Features
! I-8000 series.
! 2-axis independent, simultaneous stepping motor control / servo motor
control (pulse input type).
! Maximum pulse rate: 1Mpps.
2
32 −1
steps.
! Maximum step counts:
! DOS driver.
! embedded CPU.
! command type interface.
! 2-axis linear, 2-axis circular interpolation.
! automatic trapezoidal acceleration / deceleration.
! output pulse modes : CW/CCW or pulse/direction.
! output polarity can be programmable.
! 2500Vrms optical isolated signal output.
! 3 optical isolated digital inputs per axis for limit switches.
! programmable limit switch initial condition as normal open(N.O.) or normal
close(N.C.).
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I-8091 Contents
1. Introduction
_
2-4
1.1 System Block Diagram
1.2 DDA technology
2-4
2-5
2. Hardware
2-8
2.1 I-8000 hardware address
2.2 Register of I-8091 board
2.3 LED indicator
2-8
2-9
2-10
2-11
2-11
2-12
2-12
2-12
2-12
2-13
2-14
2-14
2.4 Hardware configuration
2.4.1 Limit switch configuration
2.4.2 Output pulse mode configuration
2.4.3 Direction configuration
2.4.4 Turn Servo ON/OFF (Hold ON/OFF)
2.4.5 Automatic protection
2.4.6 Set limit switch as normal close condition
2.5 Connection
2.5.1 Pin assignment of connector CN2
2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD
2.5.3 The internal circuit of limit switch input
2.5.4 Example of connection
2-15
2-15
2-16
2-18
2-18
2-20
2-24
2-25
2-30
2-35
2-37
2-39
2-39
2-40
2-40
3. Software
3.1 Functions
3.1.1 Setting commands
3.1.2 Stop commands
3.1.3 Simple motion commands
3.1.4 Interpolation commands
3.1.5 Others
3.2 Start up and end of program
4. Example
4.1 Detect I-8091 card
4.2 Example: DEMO.cpp
4.3 Example: DEMO1.cpp
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1. Introduction
_
1.1 System Block Diagram
The I-8091 stepping motor control card is a micro-computer controlled, 2-axis
pulse generation card. It includes a 2Kbytes-FIFO to receive motion command
from host, a micro-computer for profile generation and protection, 2-axis DDA
chip to execute DDA function when interpolation command is used, 2500Vrms
optical isolation inserted for industrial application.
CPU
2K FIFO
Interface
DDA Chip
Profile Generation
X-axis
Protection
Bus
DDA Chip
Optical
Isolation
Y-axis
Limit Switch
Input Port
Connector
Limit Switch Signal
Limit Switch
Input Port
Fig.(1) block diagram of I-8091 card
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1.2 DDA Technology
The DDA chip is the heart of I-8091 card, it will generate equal-space
pulse train corresponding to specific pulse number during a DDA period.
This mechanism is very useful to execute pulse generation and
interpolation function. The DDA period can be determined by DDA cycle.
Table(1) shows the relation among DDA cycle, DDA period and output
pulse rate. When DDA cycle set to 1, the DDA period is equal to
(1+1)x1.024ms = 2.048ms. The output pulse number can be set to 0~2047,
therefore the maximum output pulse rate will be 1Mpps. The minimum
output pulse rate is 3.83pps when set DDA cycle=254 (DDA period =
(254+1)x1.024ms = 261.12ms).
DDA period
DDA cycle
X pulse = 3
Y pulse = 6
Z pulse = 4
Fig.(2) DDA mechanism
Table(1) The Relation among DDA cycle, DDA period and output pulse rate.
DDA cycle
DDA period
Max. pulse
Min. pulse rate (n=1)
rate(n=2047)
1
2
2.048ms
3.072ms
4.096ms
.
999511pps
488pps
666341pps
325pps
3
.
.
.
.
.
1/(DDA period)
.
N
.
(N+1)*1.024ms 2047/(DDA period)
.
.
254
261.12ms
7839pps
3.83pps
The DDA cycle can be set by i8091_SET_VAR() command which decribed
in charpter 3. The selection criterion of DDA cycle was described as
following.
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(1) The required max. output pulse rate.
PRmax = Vmax*N/60
2047
+
(DDAcycle 1)*1.024ms
PRmax =
PRmax : max. output pulse rate.
Vmax : max. speed (rpm).
N
: the pulse number of stepping motor per revolution.
(pulse/rev).
2. The required speed resolution.
The maximum output pulse number is Np(0~2047), therefore
the speed resolution is Vmax(max. speed)/Np. The DDA cycle
can be obtained by following equation.
Np
+
(DDAcycle 1)*1.024ms
PRmax =
3. When choose large DDA cycle (DDA period), it will occur
vibration between different pulse input which generally can be
observed during acceleration or deceleration. So, the small
DDA cycle , the smooth acceleration/deceleration curve as long
as the speed resolution is acceptable.
Example: Stepping Motor
The specification of stepping motor is 500 pulse/rev, max. speed 500
rpm, speed resolution 2 rpm.
The required max. pulse rate
PRmax = 500 rpm*500/60 = 4166.67 pps
The maximum output pulse
Np = 500rpm/2rpm =250 pulse number
The DDA cycle can be calculated by follow equation
Np
+
250
(DDAcycle 1)*1.024ms
PRmax =
4166.67 =
+
(DDAcycle 1)*1.024ms
DDA cycle = 58
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High Speed = 247 pulse (4166.67*58*0.001024)
The above results means that maximum speed is 500rpm when send
command i8091_SET_VAR(0, 58, 2, 2, 247) to I-8091 card.
Example: Pulse type input Servo Motor
The specification of servo motor is 8000 pulse/rev, max. speed 3000 rpm,
speed resolution 2 rpm.
The required max. pulse rate
PRmax = 3000 rpm*8000/60 = 400,000 pps
The maximum output pulse
Np = 3000rpm/2rpm =1500 pulse number
The DDA cycle can be calculated by follow equation
Np
+
(DDAcycle 1)*1.024ms
PRmax =
1500
+
(DDAcycle 1)*1.024ms
400,000 =
DDA cycle = 3
High Speed = 1638 pulse (400,000*4*0.001024)
The above results means that maximum speed is 3000rpm when send
command i8091_SET_VAR(0, 3, 2, 2, 1638) to I-8091 card.
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2 Hardware
_
2.1 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
address
0x080 0x0A0 0x0C0 0x0E0
---
---
---
---
I-8000, 8 slot
address
0x080 0x0A0 0x0C0 0x0E0 0x140 0x160 0x180 0x1A0
Slot 1 Slot 2 Slot 3 Slot 4
88888
I-8000, 4 slots
Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8
88888
I-8000, 8 slots
Fig.(3) I-8000 hardware address
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2.2 Registers of I-8091 board
The I-8091 card’s registers table as following.
Register Add. R/W Bit 7
ID 0x00 R
LIMIT1 0x01 R
Bit 6
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0x0E
/EMG
/FFFF /FFEF /LS14
/LS11 /ORG1
/LS21 /ORG2
LIMIT2 0x02 R /YSTOP /XSTOP
WRFF 0x01 W
/LS24
Command port
Reset FIFO
RSTFF 0x02 W
Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
ID 0x00 R 0x0E
Bit 0
The ID register is read only and its value is fixed as 0x0E. User can check
this register to identify I-8091 card or not.
Register Add. R/W Bit 7
LIMIT1 0x01 R /EMG
/ORG1 : original point limit switch of X-axis.
Bit 6
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
/FFFF /FFEF /LS14
/LS11 /ORG1
/LS11, /LS14 : limit switches of X-axis, which must be configured as chapter
2.4.1.
/EMG : emergency switch.
/FFEF : active low, indicate FIFO is empty.
/FFFF : active low, indicate FIFO is full.
Register Add. R/W Bit 7
Bit 6
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
/LS24 /LS21 /ORG2
LIMIT2 0x02 R /YSTOP /XSTOP
/ORG2 : original point switch of Y-axis.
/LS21, /LS24 : limit switches of Y-axis, which must be configured as chapter
2.4.1.
/XSTOP, /YSTOP : These signals indicate the operating situation of X, Y axis
in CPU.
1 : busy, 0 : stop
The commands i8091_WAIT_X( ) and i8091_WAIT_Y( ) just to waiting for
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'/XSTOP' or '/YSTOP' signal become to '0'.
Register Add. R/W Bit 7
WRFF 0x01 W
Bit 6
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command port
I-8091 driver will send motion command by way of this register. Please do not
use this register to write any thing, or I-8091 will not operate properly.
Register Add. R/W Bit 7
RSTFF 0x02 W
Bit 6
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reset FIFO
This register is used to reset FIFO for clear all of commands pending in the
FIFO buffer.
2.3 LED Indicator
power
/ORG1
/EMG
/LS11 /LS14 /ORG2 /LS21 /LS24
Fig.(4) I-8091 LED indicator
Where
/ORG1: X-axis’s original limit switch for machine home position.
/LS11, /LS14 : X-axis’s negative and positive limit switches.
/ORG2: Y-axis’s original limit switch for machine home position.
/LS21, /LS24 : Y-axis’s negative and positive limit switches.
/EMG : system’s emergency signal input.
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2.4 Hardware Configuration
2.4.1 Limit switch configuration
Because the profile generation and protection is executed by the CPU
on I-8091 card, the limit switches must configure as following diagram.
The motion command just can work properly.
CCW/ BW
CW/ FW
Mot or
ccm
LS11 ORG1
LS14
/ LS11
/ ORG1
/ LS14
EXT_GND
X axis
/ EMG
Emer gency
Fig.(5) Limit switch configuration of X axis
CCW/ BW
CW/ FW
Mot or
ccm
LS21 ORG2
LS24
/ LS21
/ ORG2
/ LS24
EXT_GND
Y axis
Fig.(6) Limit switch configuration of Y axis
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2.4.2 Output pulse mode configuration
I-8091 card provide two kind output method.
(a) CW/CCW mode
(b) Pulse/Direction mode
The command i8091_SET_MODE(cardNo, modeX, modeY) provide
parameters CW_CCW (0) and PULSE_DIR (1) to define output pulse
mode.
CW
Mode = 0 (CW_CCW)
CCW
Pulse
Mode = 1 (PULSE_DIR)
Direction
Fig.(7) Output pulse mode
2.4.3 Direction configuration
Sometimes, the output direction of X-axis, Y-axis is not in the
desired direction due to the motor’s connection or gear train. It is
recommended to unify the output direction as shown in Figure(5)(6). The
CW/FW direction is defined as toward outside from motor and the
CCW/BW direction is defined as toward inside to motor. The
i8091_SET_DEFDIR(cardNo, defdirX, defdirY) command provides
parameters NORMAL_DIR (0) and REVERSE_DIR (1) to define the
rotating direction of motor.
2.4.4 Turn Servo ON/OFF (Hold ON/OFF)
To turn servo motor into servo ON(OFF) state, or turn stepping motor
into hold ON(OFF) state, the command i8091_SET_SERVO_ON(cardNo,
sonX, sonY) provide parameters ON (1) and OFF (0) to turn ON or OFF.
2.4.5 Automatic protection
The I-8091 card has a automatic protected system.
(a) If X-aixs command is executing and moving toward CW/FW direction,
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X-axis will immediately stop when LS14 is touched. To release this
protection as long as X-axis move toward CCW/BW direction.
(b) If X-aixs command is executing and moving toward CCW/BW
direction, X-axis will immediately stop when LS11 is touched. To
release this protection as long as X-axis move toward CW/FW
direction.
(c) If Y-aixs command is executing and moving toward CW/FW direction,
Y-axis will immediately stop when LS24 is touched. To release this
protection as long as Y-axis move toward CCW/BW direction.
(d) If Y-aixs command is executing and moving toward CCW/BW
direction, Y-axis will immediately stop when LS21 is touched. To
release this protection, as long as Y-axis move toward CW/FW
direction.
(e) If the signal of the emergency limit switch /EMG was found in CPU
firmware, all motion will be terminated and stop.
2.4.6 Set limit switch as normal close condition
The limit switches /EMG, /LS11, /LS14, /LS21, /LS24, /ORG1, /ORG2 is
initially normal open condition, that is, these signal is active when
connect it to ground. In industrial application, it might be recommended
normal close condition, that is, these signal is active when open from
ground.
The i8091_SET_NC(cardNo, sw) command can be set sw=0 (default), for
normal open condition. When set sw=1, for normal close condition.
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2.5 Connection
2.5.1 Pin assignment of connector CN2
CN2
DB25M-90
1
14
2
15
3
16
4
17
5
+5V
CW_PULSE1
CW_PULSE2
CCW_DIR1
CCW_DIR2
HOLD1
HOLD2
GND
18
6
EXT_VCC (12~24V)
19
7
20
8
21
9
ORG1
ORG2
LS11
LS21
22
10
23
11
24
12
25
13
LS14
LS24
EMG
EXT_GND
Fig.(8) CN2 connector
Table of CN2 connector’s pin assignment
pin name
pin
Description
number
+5V
CW_PULSE1
CCW_DIR1
HOLD1
1
2
Internal +5V power, Max. output current: 50mA
X-axis CW (Pulse) output pin
X-axis CCW (Direction) output pin
X-axis HOLD (servo on) output pin
Signal ground of pin 2,3,4
3
4
GND
5
EXT_VCC
/ORG1
6
External power(12~24V) for limit switches
X-axis original (home) limit switch
X-axis limit switch
7
/LS11
8
9,10
11
12
13
14
15
16
17
18
No used
/LS14
/EMG
X-axis limit switch
Emergency input
EXT_GND
+5V
External ground for limit switch
Internal +5V power, Max. output current: 50mA
Y-axis CW (Pulse) output pin
Y-axis CCW (Direction) output pin
Y-axis HOLD (servo on) output pin
Signal ground of pin 15,16,17
CW_PULSE2
CCW_DIR2
HOLD2
GND
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EXT_VCC
/ORG2
19
20
21
External power(12~24V) for limit switches
Y-axis original (home) limit switch
Y-axis limit switch
/LS21
22,23 No used
/LS24
24
25
Y-axis limit switch
External ground for limit switch
EXT_GND
2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD
When output these signal as 1, it can source 15mA(max.).
When output these signal as 0, it can sink 50mA(max.)
+5V
330
CW_PULSE1
CCW_DIR1
HOLD1
CW_PULSE2
CCW_DIR2
HOLD2
i8091
Fig.(9) internal circuit of pulse output pin
2.5.3 The internal circuit of limit switch input
Initially, the limit switch inputs of I-8091 board are normal open (N.O.),
the I-8091 board will automatic protect when limit switch pin connect
to EXT_GND. The user can use the command i8091_SET_NC
(cardNo, YES) to let those limit switch input as normal close condition
at the beginning of the user’s program.
EXT_VCC (12V~24V)
4.7K
/ORG1, /LS11, /LS14
/ORG2, /LS21, /LS24
/EMG
i8091
Fig.(10) internal circuit of limit switch input pin
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2.5.4 Example of connection
+5V
1
3
6
5
4
CW_PULSE1
1
2
4
3
CW +
CW -
+5V
+5V
1
3
6
5
4
CCW_DIR1
1
2
4
3
CCW +
CCW -
1
3
6
5
4
HOLD1
GND
1
2
4
3
HOLD +
HOLD -
DGND
FAN-OUT TYPE (VEXTA) DRIVER
Fig.(11) fan-out type driver (VEXTA's motor driver)
+5V
COM
1
4
3
1
6
5
4
CW_PULSE1
2
CW/PULSE
3
+5V
+5V
1
2
4
3
1
3
6
5
4
CCW_DIR1
CCW/DIR
1
2
4
3
1
3
6
5
4
HOLD1
GND
HOLD
DGND
SINK TYPE DRIVER
Fig.(12) Sink type driver
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CN2
DB25M-90
CN2
DB25M-90
S5V
1
14
2
15
3
16
4
17
5
1A+
1A-
1B+
1B-
1C+
1C-
E5V
1
14
2
15
3
16
4
17
5
CW_PULSE1
CW_PULSE2
CCW_DIR1
CCW_DIR2
HOLD1
HOLD2
SGND
EGND
2A+
18
6
19
7
20
8
21
9
2A-
2B+
2B-
2C+
2C-
E5V
EGND
3A+
18
6
19
7
20
8
21
9
EXT_VCC
EXT_VCC
(12V~24V)
PHOME1
PLS11
PHOME2
PLS21
22
10
23
11
24
12
25
13
22
10
23
11
24
12
25
13
3A-
3B+
3B-
3C+
3C-
E5V
EGND
EGND
PLS14
PEMG
PLS24
EXT_GND
S8091 card
S8090 card
Fig.(13) The connection between I-8090 and I-8091 for function testing or
pulse feedback by I-8090 encoder card.
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3. Software
_
User’s applications could be compiled under DOS Turbo/borland C/C++
environment. It should be include i8091.h and i8091.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-8000 system or its software programming guide.
The following section will introduce the I-8091’s functions and examples.
3.1 Functions
Constants
#define i8091
0x0e
#define YES
1
0
0
1
1
0
0
1
0
#define NO
#define READY
#define BUSY
#define ON
#define OFF
#define CW_CCW
#define PULSE_DIR
#define NORMAL_DIR
#define REVERSE_DIR 1
#define FW
0
1
0
1
1
2
3
#define BW
#define CW
#define CCW
#define X_axis
#define Y_axis
#define Z_axis
I-8091 card is a automatic protected system.
(a)If X-aixs command is executing and moving toward CW/FW direction,
X-axis will immediately stop when LS14 is touched. To release this
protection as long as X-axis move toward CCW/BW direction.
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(b)If X-aixs command is executing and moving toward CCW/BW
direction, X-axis will immediately stop when LS11 is touched. To
release this protection as long as X-axis move toward CW/FW
direction.
(c)If Y-aixs command is executing and moving toward CW/FW direction,
Y-axis will immediately stop when LS24 is touched. To release this
protection as long as Y-axis move toward CCW/BW direction.
(d) If Y-aixs command is executing and moving toward CCW/BW
direction, Y-axis will immediately stop when LS21 is touched. To
release this protection, as long as Y-axis move toward CW/FW
direction.
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3.1.1 Setting commands
(1) unsigned char i8091_REGISTRATION(unsigned char cardNo,
unsigned int address);
In order to distinguish more than one I-8091 card in I-8000 platform, the
I-8091 cards should be registrated before using it. This command will
assign a card number=“cardNo” to I-8091 card address=”address” . If
there is not I-8091 at the given address, this command will return “NO”.
cardNo : board number 0~19.
address : select the address as well as hardware selected in chapter 2.1.
return NO : board not exist
YES : board exist
Example:
i8091_REGISTRATION(1, 0x080);
(2) i8091_RESET_SYSTEM( unsigned char cardNo )
To reset I-8091 card, this command will terminate the running command in
I-8091 card. User can use this command as software emergency stop.
i8091_RESET_SYSTEM command also will clear all of setting, so, all I-
8091 card’s parameter should be set again.
cardNo : board number 0~19.
(3) i8091_SET_VAR(unsigned char cardNo,
unsigned char DDA_cycle,
unsigned char Acc_Dec,
unsigned int Low_Speed,
unsigned int High_Speed)
to set DDA cycle, accelerating/decelerating speed, low speed and high
speed value.
cardNo : board number 0~19.
High_Speed
Acc_Dec
Acc_Dec
Low_Speed
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Restriction:
1≤DDA_cycle ≤254
1≤ Acc _ Dec ≤200
1≤ Low_ Speed ≤200
Low_ Speed ≤High_ Speed ≤2047
Low_Speed >= Acc_Dec
default value
DDA_cycle = 10
Acc_Dec = 1
Low_Speed = 10
High_Speed = 100
Example:
i8091_SET_VAR(1, 5, 2, 10, 150);
where
DDA_cycle = 5
Acc_Dec = 2
--> DDA period = (5+1)*1.024ms = 6.144ms
--> Acc/Dec speed = 2/(6.144ms)^2 = 52981 p/s^2
--> low speed = 10/6.144ms = 1628pps
Low_Speed = 10
High_Speed = 150 --> high speed = 150/6.144ms = 24414pps
(4) i8091_SET_DEFDIR(unsigned char cardNo,
unsigned char defdirX,
unsigned char defdirY)
Sometimes, the output direction of X-axis, Y-axis is undesired
direction due to the motor’s connection or gear train. In oder to unify the
output direction as shown in Fig.(5) and Fig.(6). Where CW/FW direction is
defined as toward outside from motor, CCW/BW direction is defined as
toward inside from motor. i8091_SET_DEFDIR( ) command provide
parameters to define the rotating direction of motor.
cardNo : board number 0~19.
defdirX : X axis direction definition
defdirY : Y axis direction definition
0 : NORMAL_DIR
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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)
Mode = 1 (PULSE_DIR)
CCW
Pulse
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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set as N.C., those limit switches are active high. The auto-protection will
automatically change the judgement whatever it is N.O. or N.C..
Limit switches: ORG1, LS11, LS14, ORG2, LS21, LS24, EMG.
cardNo : card number 0~19.
sw: 0(NO) normal open (default).
1(YES) normal close.
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3.1.2 Stop Commands
(8) i8091_STOP_X(unsigned char cardNo)
to stop X axis.
cardNo : board number 0~19.
(9) i8091_STOP_Y(unsigned char cardNo)
to stop Y axis.
cardNo : board number 0~19.
(10) i8091_STOP_ALL(unsigned char cardNo)
to stop X, Y axis immediatly.
cardNo : board number 0~19.
This command will clear all of commands pending in the FIFO.
The i8091_RESET_SYSTEM can be used as software emergency stop.
The i8091_RESET_SYSTEM command will terminate the running
command and clear all of setting, so, all I-8091 card’s parameter should be
set again after call i8091_RESET_SYSTEM command.
(11) i8091_EMG_STOP(unsigned char cardNo);
This function is the same as i8091_STOP_ALL(), but i8091_ EMG_STOP()
only can be used in interrupt routine.
cardNo : card number 0~19.
This command will clear all of commands pending in the FIFO.
The i8091_RESET_SYSTEM can be used as software emergency stop.
The i8091_RESET_SYSTEM command will terminate the running
command and clear all of setting, so, all I-8091 card’s parameter should be
set again after call i8091_RESET_SYSTEM command.
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3.1.3 Simple motion commands
(12) i8091_LSP_ORG(unsigned char cardNo,
unsigned char DIR, unsigned char AXIS)
Low speed move , and stop when ORG1/ORG2 limit switch is touched.
cardNo : board number 0~19.
ORG
Low speed
Example:
i8091_LSP_ORG(1, CCW, X_axis);
i8091_LSP_ORG(1, CCW, Y_axis);
(13) i8091_HSP_ORG(unsigned char cardNo, unsigned char DIR,
unsigned char AXIS)
High speed move , and stop when ORG1/ORG2 limit switch is touched.
cardNo : board number 0~19.
ORG
high speed
Example:
i8091_HSP_ORG(1, CCW, X_axis);
i8091_HSP_ORG(1, CCW, Y_axis);
(14) i8091_LSP_PULSE_MOVE(unsigned char cardNo,
unsigned char AXIS, long pulseN)
Low speed move #pulseN
cardNo : board number 0~19.
#pulseN
Example:
i8091_LSP_PULSE_MOVE(1, X_axis, 20000);
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i8091_LSP_PULSE_MOVE(1, X_axis, -2000);
i8091_LSP_PULSE_MOVE(1, Y_axis, 20000);
i8091_LSP_PULSE_MOVE(1, Y_axis, -2000);
where
when pulseN>0, move toward CW/FW direction
when pulseN<0, move toward CCW/BW direction
(15) i8091_HSP_PULSE_MOVE(unsigned char cardNo,
unsigned char AXIS, long pulseN)
High speed move #pulseN.
cardNo : board number 0~19.
high speed
#pulseN
Example:
i8091_HSP_PULSE_MOVE(1, X_axis, 20000);
i8091_HSP_PULSE_MOVE(1, X_axis, -2000);
i8091_HSP_PULSE_MOVE(1, Y_axis, 20000);
i8091_HSP_PULSE_MOVE(1, Y_axis, -2000);
where
when pulseN>0, move toward CW/FW direction
when pulseN<0, move toward CCW/BW direction
(16) i8091_LSP_MOVE(unsigned char cardNo,
unsigned char DIR, unsigned char AXIS)
Low speed move toward direction DIR. It can be stop by i8091_STOP_X
or i8091_STOP_Y or i8091_STOP_ALL command.
cardNo : board number 0~19.
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Low speed
Example:
i8091_LSP_MOVE(1, CW, X_axis);
getch( );
i8091_STOP_X(1);
i8091_LSP_MOVE(1, CCW, Y_axis);
getch( );
i8091_STOP_Y(1);
(17) i8091_HSP_MOVE(unsigned char cardNo,
unsigned char DIR, unsigned char AXIS)
High speed move toward direction DIR. It can be stop by i8091_STOP_X
or i8091_STOP_Y or i8091_STOP_ALL command.
cardNo : board number 0~19.
high speed
Example:
i8091_HSP_MOVE(1, CW, X_axis);
getch( );
i8091_STOP_X(1);
i8091_HSP_MOVE(1, CCW, Y_axis);
getch( );
i8091_STOP_Y(1);
(18) i8091_CSP_MOVE(unsigned char cardNo, unsigned char dir,
unsigned char axis, unsigned int move_speed)
This command will accelerate/decelerate the selected axis’s motor to the
“move_speed”. This command can be continuously send to I-8091 to
dynamicly change speed. The rotating motor can be stop by the
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command i8091_STOP_X(), i8091_STOP_Y(), i8091_STOP_ALL(), or
i8091_SLOW_STOP().
cardNo : board number 0~19.
axis : selected axis.
1 : X axis
2 : Y axis
dir : moving direction.
0 : CW
1 : CCW
0 < move_speed <= 2040
move speed
Acc_Dec
Example:
i8091_CSP_MOVE(1, CW, X_axis, 10);
delay(10000);
i8091_CSP_MOVE(1, CW, X_axis, 20);
delay(10000);
i8091_CSP_MOVE(1, CW, X_axis, 30);
delay(10000);
(19) i8091_SLOW_DOWN(unsigned char cardNo, unsigned char AXIS)
to decelerate to slow speed until i8091_STOP_X( ) or i8091_STOP_Y() or
i8091_STOP_ALL is executed.
SLOW_DOWN
Example:
i8091_HSP_MOVE(1, CW, X_axis);
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getch( );
i8091_SLOW_DOWN(1, X_axis);
getch( );
i8091_STOP_X(1);
(20) i8091_SLOW_STOP(unsigned char cardNo, unsigned char AXIS)
to decelerate to stop.
cardNo : board number 0~19.
SLOW_STOP
Example:
i8091_HSP_MOVE(1, CW, Y_axis);
getch( );
i8091_SLOW_STOP(1, Y_axis);
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3.1.4 Interpolation commands
(21) i8091_INTP_PULSE(unsigned char cardNo, int Xpulse, int Ypulse)
This command will move a short distance (interpolation short line) in X-Y
plane. This command provided a method for user to generate an arbitrary
curve in X-Y plane.
Y
Y
10
( Xpul se, Ypul se)
9
3
4
8
2
5
X
6
7
1
X
cardNo : board number 0~19.
Restriction:
−2047 ≤# Xpulse ≤2047
−2047 ≤#Ypulse ≤2047
Example:
i8091_INTP_PULSE(1,20,20);
i8091_INTP_PULSE(1,20,13);
i8091_INTP_PULSE(1,20,7);
i8091_INTP_PULSE(1,20,0);
i8091_INTP_PULSE(1,15,-5);
(22) i8091_INTP_LINE(unsigned char cardNo, long Xpulse, long Ypulse)
This command will move a long distance (interpolation line) in X-Y plane.
The CPU on I-8091 card will generate a trapezoidal speed profile of X-axis
and Y-axis, and execute interpolation by way of DDA chip.
Y
( Xpul se, Ypul se)
X
( 0, 0)
cardNo : board number 0~19.
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Restriction:
−524287 ≤# Xpulse ≤524287
−524287 ≤#Ypulse ≤524287
Example:
i8091_INTP_LINE(1,2000,-3000);
i8091_INTP_LINE(1,-500,200);
(23) i8091_INTP_LINE02(unsigned char cardNo, long x, long y
, unsigned int speed
, unsigned char acc_mode)
This command will move a long interpolation line in X-Y plane. Host will
automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The i8091_INTP_LINE02() only set
parameters into the driver. User can directly call the do { } while
(i8091_INTP_STOP( ) !=READY) to execute the computing entity.
cardNo : board number 0~19.
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile
Y
( X, Y)
X
( 0, 0)
Example:
i8091_INTP_LINE02(CARD1,1000,1000,100,0);
do { } while( i8091_INTP_STOP()!=READY) ; //call state machine
(24) i8091_INTP_CIRCLE02(unsigned char cardNo, long x, long y,
unsigned char dir, unsigned int speed,
unsigned char acc_mode)
This command will generate an interpolation circle in X-Y plane. Host will
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automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The i8091_INTP_CIRCLE02() only
set parameters into the driver. User can directly call the do { } while
(i8091_INTP_STOP( ) !=READY) to execute the computing entity.
cardNo : board number 0~19.
x, y : center point of circle relate to present position.
dir : moving direction.
0 : CW
1 : CCW
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile
Y
( X, Y)
CW
X
CCW
where r adi us = sqr t ( X^2 + Y^2)
Example:
i8091_INTP_CIRCLE02(CARD1,2000,2000,100,0);
do { } while( i8091_INTP_STOP()!=READY) ; //call state machine
(25) i8091_INTP_ARC02(unsigned char cardNo, long x, long y, long R,
unsigned char dir, unsigned int speed,
unsigned char acc_mode)
This command will generate an interpolation arc in X-Y plane. Host will
automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The i8091_INTP_ARC02() only set
parameters into the driver. User can directly call the do { } while
(i8091_INTP_STOP( ) !=READY) to execute the computing entity.
cardNo : board number 0~19.
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x, y : end point of arc relate to present position.
R : radius of arc.
if R>0 , the arc < 180degree
if R<0 , the arc > 180 degree
dir : moving direction.
0 : CW
1 : CCW
R
dir
path of curve
R>0
R>0
R<0
R<0
CW
'B'
'C'
'A'
'D'
CCW
CW
CCW
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile
'A'
Y
( X, Y)
CW
'B'
CW
'C'
CCW
'D'
X
CCW
Restriction:
−232 +1≤# x ≤232 −1
−232 +1≤# y ≤232 −1
−232 +1≤# R ≤232 −1
x2 + y2
2
R ≥
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Example:
i8091_INTP_ ARC02(1,2000,-2000,2000,CW,100,0);
do { } while( i8091_INTP_STOP()!=READY) ; //call state machine
(26) unsigned char i8091_INTP_STOP()
The above 3 state-machine-type interpolation commands
i8091_INTP_LINE02(), i8091_INTP_CIRCLE02() and
i8091_INTP_ARC02() must use i8091_INTP_STOP() simultaneously. The
state-machine-type interpolation commands are only set parameters into
the driver. The computing entity is in i8091_INTP_STOP().
This command will compute the interpolation profile. It will return
READY(0) for interpolation command completed. And retrun BUSY(1) for
not yet complete.
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3.1.5 Others
(27) unsigned char i8091_LIMIT_X(unsigned char cardNo)
to request the condition of X-axis limit switches
cardNo : board number 0~19.
MSB 7
6
5
4
3
2
1
0 LSB
/EMG /FFFF /FFEF /LS14
xx
xx
/LS11 /ORG1
/ORG1 : original point switch of X-axis, low active.
/LS11, /LS14 : limit switches of X-axis, low active, which must be
configured as Fig.(5).
/EMG : emergency switch, low active.
/FFEF : active low, FIFO is empty
/FFFF : active low, FIFO is full
Example:
unsigned char limit1;
limit1 = i8091_LIMIT_X(1);
(28) unsigned char i8091_LIMIT_Y(unsigned char cardNo)
to request the condition of Y-axis limit switches
cardNo : board number 0~19.
MSB 7
6
5
4
3
2
1
0 LSB
ystop xstop
xx
/LS24
xx
xx
/LS21 /ORG2
/ORG2 : original point switch of Y-axis, low active.
/LS21, /LS24 : limit switches of Y-axis, low active, which must be
configured as Fig.(6).
xstop: 1:indicate X-axis is stop
ystop: 1:indicate Y-axis is stop
Example:
unsigned char limit2;
limit2 = i8091_LIMIT_Y(1);
(29) i8091_WAIT_X(unsigned char cardNo)
to wait X-axis going to STOP state.
cardNo : board number 0~19.
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(30) i8091_WAIT_Y(unsigned char cardNo)
to wait Y-axis going to STOP state.
cardNo : board number 0~19.
(31) unsigned char i8091_IS_X_STOP(unsigned char cardNo)
To check whether X axis is STOP or not.
Return value
0 (NO) : not yet stop
1 (YES) : stop
(32) unsigned char i8091_IS_Y_STOP(unsigned char cardNo)
To check whether Y axis is STOP or not.
Return value
0 (NO) : not yet stop
1 (YES) : stop
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3.2 Start up and end of program
Start up program
When you are going to use I-8091 card, there are some commands must
be implement in previous.
i8091_REGISTRATION(CARD1,0x80)
set CARD1 address, (where CARD1=1)
i8091_RESET_SYSTEM(CARD1);
reset system
i8091_SET_VAR(CARD1, DDA, AD, LSP, HSP);
set DDA cycle, accelerating/decelerating speed, low speed and high
speed value
i8091_SET_DEFDIR(CARD1, xdir, ydir);
define direction.
i8091_SET_MODE(CARD1, xmode, ymode);
define output mode.
i8091_SET_SERVO_ON(CARD1, xson, yson);
set servo ON/OFF.
define output mode.
i8091_SET_NC(CARD1, nc);
To config limit switch as N.C. or N.O.
end of program
i8091_RESET_SYSTEM(CARD1);
To reset system
Example
//-----------------------------------------------------------------------------
-
#define CARD1
typedef struct {
int
1
address;
unsigned char DDA,AD;
unsigned int LSP,HSP;
unsigned char xmode,ymode;
unsigned char xdir,ydir;
unsigned char xson,yson;
unsigned char NCmode;
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} i8091CardType;
i8091CardType card1;
//-------------------------------------------------------------------------
void main ()
{
card1.address=PortAddress[i8091Slot];
card1.DDA
card1.AD
card1.LSP
card1.HSP
= 10;
= 5;
= 5;
= 100;
card1.xmode = CW_CCW;
card1.ymode = CW_CCW;
card1.xdir = NORMAL_DIR;
card1.ydir = NORMAL_DIR;
card1.xson = ON;
card1.yson = ON;
card1.NCmode= OFF;
i8091_REGISTRATION(CARD1, card1.address);
i8091_RESET_SYSTEM(CARD1);
i8091_SET_VAR(CARD1, card1.DDA, card1.AD, card1.LSP, card1.HSP);
i8091_SET_DEFDIR(CARD1, card1.xdir, card1.ydir);
i8091_SET_MODE(CARD1, card1.xmode, card1.ymode);
i8091_SET_SERVO_ON(CARD1, card1.xson, card1.yson);
i8091_SET_NC(CARD1, card1.NCmode);
Delay(100);
.
.
//--- end of program ----------------------------
i8091_RESET_SYSTEM(CARD1);
}
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4. Example
4.1 Detect I-8091 card
//---------------------------------------------------
// detect i8090,i8091,i8092 card
//---------------------------------------------------
#include "8000.h"
#include "s8090.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};
//---------------------------------------------------
void main ()
{
unsigned char slot,temp;
for (slot=0; slot<MAX_SLOT_NO; slot++)
{
temp=inportb(PortAddress[slot]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Print("Slot %d = i8090\r\n",SlotNum);
return i8090;
case i8091: //i8091 2-axis stepping card
Print("Slot %d = i8091\r\n",SlotNum);
return i8091;
case i8092: //i8092
Print("Slot %d = i8092\r\n",SlotNum);
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return i8092;
default:
Print("Slot %d = No Card\r\n",SlotNum);
return NOCARD;
};
Delay(500);
};
}
4.2 Example: DEMO.cpp
//---------------------------------------------------------------------------
// demo.cpp for I-8091 card
//
// This program can test all of following command
// ----------------------I-8091 testing kit-----------------------------------
// (0)Exit
(A)i8091_IS_X_STOP
(B)i8091_IS_Y_STOP
(C)i8091_LIMIT_X
(D)i8091_LIMIT_Y
(E)i8091_LSP_ORG
(F)i8091_HSP_ORG
(K)i8091_CSP_MOVE
(L)i8091_SLOW_DOWN
(M)i8091_SLOW_STOP
(N)i8091_INTP_PULSE
(O)i8091_INTP_LINE
(P)i8091_INTP_LINE02
// (1)i8091_RESET_SYSTEM
// (2)i8091_SET_VAR
// (3)i8091_SET_DEFDIR
// (4)i8091_SET_MODE
// (5)i8091_SET_SERVO_ON
// (6)i8091_SET_NC
// (7)i8091_STOP_X
// (8)i8091_STOP_Y
// (9)i8091_STOP_ALL
//
(G)i8091_LSP_PULSE_MOVE (Q)i8091_CIRCLE02
(H)i8091_HSP_PULSE_MOVE (R)i8091_ARC02
(I)i8091_LSP_MOVE
(J)i8091_HSP_MOVE
(S)User Define Testing
// The output pulse amount can be monitored from i8090 card. When directly
// connect the CW/PULSE, CCW/DIR of i8091 to i8090. The encoder value
// can be shown on the LED display. Its format as following.
// ex:
//
0.2 1 2 8 : X-axis encoder value
5 3.4 0 2 : Y-axis encoder value
1 0 0.1 0 : Z-axis encoder value
//
// the dot(.) stands for which axis.
//--------------------------------------------------------------------
4.3 Example:DEMO1.cpp
//--------------------------------------------------------------------
// demo1.cpp for I-8091 card
//
// This a simple program to test I-8091 command
// i8091_INTP_LINE()
// i8091_INTP_LINE02()
//--------------------------------------------------------------------
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