User`s Manual - ICP DAS USA`s I
Contents
1. Encoder Status X1 axis 107486 E E X2 axis e7058 X3 axis oO o GT X4 axis bo o E X5 axis oO so 8 X6 axis ob o a Stop Figure 11 The panel of the enc6demo exe PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 30 PISO Encoder600 PISO Encoder300 User s Manual 2 enc6demot exe The function of enc6demo1 exe is the same with the demo program demo exe in DOS example It can be used to test the encoder counter value for one revolution in Windows 9x ME or Windows NT 2000 The function of graphic interface is designated as following 1 At first user select which axis encoder will be tested 2 User clicks on Start Button Then the selected encoder counter value for one revolution is displayed in middle of graphic interface 3 The Clear button is used to clear the counter value shown in the figure and prepare to display for next test procedure 4 The Exit button is used to exit the program From the figure shown below it shows the counter value is 3996 for one revolution The reason is that the hardware encoder has 1000pulse revolution performance After quadrant rate of PISO Encoder600 the counter value should be 4000 for one revolution Due to the encoder index reset mode is chosen to reset the counter value therefore the last pulse A and B will not be included into the encoder card system and the counter value becomes 3996 User can add 4 counter value to2. 4 Repeat steps 2 3 to acquire four bytes of counter value 5 After reading out the counter value the INH of control register should be set to 1 for next data latch function RD1 X1 axis counter value register Type mse7 6 5 4 3 2 4 Coh counter value RD2 X2 axis counter value register Type MsB7 6 5 4 3 2 14 EOh counter value RD6 X6 axis counter value register PISO Encoder600 onl address Type MSB 7 6 5 4 3 2 1 0 LSB 2 2 3 Digital output register PISO Encoder600 offers 8 digital output channels Digital output register is write type register locating at the address of PCIBase C4h to send out information through digital output channels The data format of the digital output register is depicted below zanese ae ose e Fe Ta Ta Ta Ta h w Do7 pos pos Do4 pos poz DOF PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 10 PISO Encoder600 PISO Encoder300 User s Manual 2 2 4 Digital input register For every axis encoder PISO Encoder600 also offers 2 digital input channels to get the status of encoder index C C and signal level of hardware reset pin Digital input registers are read type registers based on PCIBase address for example the address is PCIBase C4h for X1 axis input register Cn is used to obtain the encoder index signal the only signal level coming from encoder In addition when hardware reset pins are
3. 38 x4 axis B E PISO Encoder600 T a n a ace 40 X4axis C input PISO Encoder600 only eGND 42 _ encoder power ground 5a 43 X5 axis A input PISO Encoder600 onl rino e X5 axis B input PISO Encoder600 onl se a6 heao maa PSOEneaeeo oy e ese a C input a AE 5 48 x5 axis C input PISO Encoder600 only Cool ae a o OS PISO Encoder600 onl 52 X6 axis B input PISO Encoder600 only 53 X6 axis B input PISO Encoder600 only gece 54 Xe axis C input PISO Encoder600 only gc 55 Ixe axis C input PISO Encoder600 only Back 56 external power ce input 57 digital output 0 poi 58 _ digital output 1 60 digital output 3 DO3 DO4 6 digital output 4 DO5 62 digital output 5 pos 63 _ digital output 6 DO O 64 digital output 7 _NC __ 65 66 67 Not used EXT GND external power ground PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 16 PISO Encoder600 PISO Encoder300 User s Manual 2 4 3 The internal circuit of encoder interface In figure 4 the internal circuit of encoder interface for one channel is presented According to the circuit shown in below the signals of A A B B C and C of every encoder channel are all needed for application of this encoder card And the differential voltage of every signal for example A A is applied to guarantee the signal level If the encoder only provides A B
4. C signal please refer to the connection of encoder in section 2 4 5 to pull up signal level PISO ENC600 Figure 4 Internal circuit of encoder interface PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 17 PISO Encoder600 PISO Encoder300 User s Manual 2 4 3 Internal circuit of digital inputs HR1 HR6 When HRn is connected to a low level signal the corresponding digital input register will be 1 Otherwise when HRn is connected to a high level signal DC24V the corresponding digital input register will become 0 PISO ENC600 External amp XT_GND Temana aeiia a soba a E a n a a i a a aa a ese a a a Figure 5 Internal circuit of HR hardware reset 2 4 4 Internal circuit of digital outputs DO0 DO7 The load should locate between an external power source and a digital output terminal When user send command to output register to trigger photo coupled transister the load will be actived by the external power source EXT_VCC O EXT_GND PISO ENC600 External Figure 6 Internal circuit of DO digital output PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 18 PISO Encoder600 PISO Encoder300 User s Manual 2 4 5 The connection of encoder The typical connection of encoder and PISO Encoder600 is shown in Figure 7 However if the encoder only provides A B C GND and 5V connection which is called open c
5. not applied as the hardware reset signal for counter value those digital input channels can be used for general digital input RD11 X1 axis digital input register address Type msB7 6 5 4 3 2 4 car rp er RD21 X2 axis digital input register Type MsB7 _ 6 5 4 3 2 4 eon R _ c2 RD31 X3 axis digital input registe a ele e Le aa a RD41 X4 axis digital input register PISO Encoder600 only Type MsB7 _ 6 5 4 3 2 4 bch Rk RD51 X5 axis digital input register PISO Encoder600 only address Type MSB7 _ 6 5 4 3 ean re RD61 X6 axis digital input register PISO Encoder600 onl address Type MsB7 _6 5 4 3 2 4 ech re 2 3 Program guide In this section we will show program statements to demonstrate procedures regarding how user can get encoder counter data using this encoder card Due to the same specifications for every axis encoder system the X1 axis encoder system will be used as an example Note that the approach described here is not the only method to obtain data from the encoder card However this information would be helpful for beginners and users can modify the statements by themselves based on their needs PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 11 PISO Encod
6. we will show the detailed definition of function calls provided in the library file They are commonly useful in Windows and DOS operation systems However it should be noted that some function calls can only be used in Windows environment 3 1 Functions Constants define YES 1 define NO 0 define ON 1 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 20 PISO Encoder600 PISO Encoder300 User s Manual define OFF 0 define CW define CCW define X1_ axis define X2_axis define X3_axis define X4_axis define X5_axis define X6_axis 0 2 3 4 PISO Encoder600 only 5 PISO Encoder600 only 6 PISO Encoder600 only define ENC_QUADRANT 0x00 define ENC_CW_CCW 0x01 define ENC_PULSE_DIR 0x02 define ENC_HR_RESET 0x40 define ENC_INDEX_RESET 0x80 3 1 1 Loading and unloading driver commands only for windows 1 ENC6_INITIAL To load the device driver 2 ENC6_END To release the device driver 3 2 2 Commands 3 unsigned char ENC6_REGISTRATION unsigned char cardNo unsigned int address To select the hardware address of board and check whether the PISO Encoder600 card exists or not The cardNo can be assigned as 0 15 for given address cardNo card number 0 15 address select the address based on the hardware address setting on the board Return NO PISO Encoder600 does not exist YES PISO Encoder600 exists 4 ENC6_INIT_CARD unsigne
7. Al A2 A3 0 0 0 0 0 1 1 0 0 0 2 0 1 0 0 3 1 1 0 0 4 0 0 1 0 5 1 0 1 0 6 0 1 1 0 7 1 1 1 0 8 0 0 0 1 9 1 0 0 1 10 0 1 0 1 11 1 1 0 1 12 0 0 1 1 13 1 0 1 1 14 0 1 1 1 15 1 1 1 1 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 5 PISO Encoder600 PISO Encoder300 User s Manual Note On 0 OFF 1 factory setting PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 6 PISO Encoder600 PISO Encoder300 User s Manual 2 2 Registers of the PISO Encoder600 PISO Encoder300 board The information of hardware registers is the most important issue in programming the PISO Encoder600 Users should understand the meaning of every register in order to improve their program skill to communicate with the hardware system and to get and send information back and forth A summary map of the address and data format of each register is explained in the following sections It should be noted that the addresses of those registers are designated to the PCI base address 2 2 1 Control register The following table shows the relative address of each register for encoder input channels 1 6 All control registers own the same data format but with different address locations User can set the control register by PCI base address for example PCIBase CoOh In the following description X1 axis control register will be used to reveal the detailed setting f
8. encoder counter value will be reset to 0 by encoder index C C signal during every revolution CRST 0 disable the function of encoder index reset From the above description the control register of PlSO Encoder600 board provides three types of counter value resetting mode which are software reset hardware reset and encoder index reset User should carefully choose proper reset method according to software and hardware environment Otherwise encoder counter will be reset by the first coming resetting signal 2 2 2 Counter value register Counter value registers are read type registers which is based on PCI address Ex PCIBase COh for X1 axis counter value described in the table shown below These registers are used to read out the encoder counter value The reading procedure of encoder counter value is described as follows 1 Before reading the counter value the INH of control register should be set to 0 to inhibit data latch 2 The B1 B0 of control register should be set as 0 3 to assign which byte will be read out The counter value of 32 bit encoder has four byte data Note that only one byte can be read out every time PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 9 PISO Encoder600 PISO Encoder300 User s Manual 3 Send a request to read one byte data from counter value register as shown in the following table The address is according to which axis encoder is applied
9. only for Borland C Dynamic Link Library _ enc600 dIl copy to c WinNT System32 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 25 PISO Encoder600 PISO Encoder300 User s Manual regdrv bat napwnt ini napwnt sys copy to c WinNT System32 drivers regini exe Example file Borland C Builder enc6demo bpr enc6demo1 bpr Delphi enc6demo dpr enc6demo1 dpr VB enc6demo vbp enc6demo1 vbp PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 26 PISO Encoder600 PISO Encoder300 User s Manual 5 Example 5 1 Dos examples 1 Demo exe The Demo exe in the directory PISO Encoder dos c demo is an example regarding how to use PISO Encoder600 command sets to get encoder counter values Figure 9 displays the result of the Demo exe when X1 and X2 channels are connected with encoders Press any key to exit Figure 9 The result of the Demo exe 2 Demot exe The Demot1 exe in the directory PISO Encoder dos c demo1 uses the index reset method C C to reset the encoder counter value for each revolution This program is designed to test every axis encoder counter value for one revolution each time Figure 10 presents the results of demo program The counter value is 3996 for one revolution According to hardware specification of the tested encoder is 1000 the quadrant rate of encoder should be 4000 for one re
10. the final encoder value to get the correct counter value for one revolution Besides this program can also be used to verify the total pulses of unknown encoder specification for one revolution PISO ENC600 Demol Program Selet the axis to test x1 axis v The encoder counter value for one revolution is about 3996 Clear Exit Figure 12 The panel of the enc6demo1 exe PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 31
11. PISO Encoder600 PISO Encoder300 User s Manual PISO Encoder600 PISO Encoder300 6 axis 3axis 32 bit Encoder Card User s Manual Version 1 0 04 2005 Edition Driver update http www icpdas com 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 its use nor for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2002 by ICP DAS All rights are reserved Trademark The names used for identification only may be registered trademarks of their respective companies PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 1 PISO Encoder600 PISO Encoder300 User s Manual Contents of PISO Encoder600 PISO Encoder300 Encoder Card Eene Ml ONG BL OMe ae arias en aa uae lasa coat ated a a a a a a tate cs 3 DS MECN UNO ets E EE E EE E teat E E mae E nam Matt itad ma estoy tee ta edocs 3 PP REY EEA E OEE E EE EE EEEE ENT MME RUAN ak 3 t3System Block Didor Me aaa a a e etea a a a iEn 3 PA ESTE SA E EAAS EE EA SEA E ESTEA EE AEE A NE AE S 5 2l Hardware addres s
12. POM TANS BAe ais AE EENE T Co E E ab acu EE O EE EE 21 A MTSE EAE A TET E EAE SE EA EE E ENET E EIET E 25 AADORIN O E ee out es tas E E E TE AET EAEE A taee 25 4 2 Windows 95 98 IVE arnat a a e a n a A a N 25 AyD Windows NT Diver cust tusk einet a EEA EA hath ant EEA RTN NE 25 SEXI 0 aetna nee a Re RE ed aC TR OR ne Rn PE TP 27 SL OSCR TN LS a Si necciatees eas ubsrserieua gn es cove cents ae aE E E aA 27 5 2 Windows SLA ANON nians nana a Misia lahat island 28 TP DV TING ONE NE IYO SY es eee dns E Ueda aude EEN EEA 29 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 2 PISO Encoder600 PISO Encoder300 User s Manual 1 General information 1 1 Introduction The PISO Encoder600 PISO Encoder300 is a high performance and high speed 6 axis 3 axis 32 bit PCI bus Encoder Card for the IBM compatible PC The high end specifications of this encoder card and complete software support make it ideal for wide range applications in position measurement of motion systems for industrial and laboratory environment The key features are described as below 1 2 Key Features 6 axis Encoder counter True 32 bits counter PCI bus Maximum counting rate 1MHz 3rd order internal digital filter Counting mode Quadrant CW_CCW PULSE_DIR A A B B C C inputs Programmable reset counter function Index C channel reset counter function Hardware reset HR1 HR6 reset counter function SCSI II 68 p
13. and PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 23 PISO Encoder600 PISO Encoder300 User s Manual cardNo card number 0 15 axis 1 6 Return the value of RD11 RD21 RD31 RD41 RD51 RD61 input register RD11 X1 axis input register adress Type msB7 6 5 4 3 2 14 capo eR ot am Example x1_index ENC6_GET_INDEX CARD1 X1_ axis x2_index ENC6_GET_INDEX CARD1 X2_ axis 9 ENC6_DO unsigned char cardNo unsigned char value To output value to the DO1 DO8 cardNo card number 0 15 value output value Example ENC6_DO CARD1 0x22 ENC6_DO CARD1 0x00 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 24 PISO Encoder600 PISO Encoder300 User s Manual 4 Driver 4 1 DOS Driver C C File Header file enc600 h Library file enc600 lib Example file turbo C demo prj demo1 prj demo2 prj 4 2 Windows 95 98 Driver Header file Import Library file enc600 lib bcenc600 lib only for Borland C Dynamic Link Library _ enc600 dll copy to c Windows system Driver Napdio vxd copy to c Windows system Example file Borland C Builder enc6demo bpr enc6demo1 bpr Delphi enc6demo dpr enc6demo1 dpr VB enc6demo vbp enc6demo1 vbp 4 3 Windows NT Driver File Header file enc600 h Import Library file enc600 lib bcenc600 lib
14. apwnt Type 0x00000001 5 3 Windows examples 1 enc6 demo exe The enc6demo exe source codes included is an example of the PISO Encoder600 board for Windows environment It works in operation systems Windows9x ME and NT 2000 The function of this demo program is described as follows A pop up panel as shown in Figure 11 is shown on the graphic display PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 29 PISO Encoder600 PISO Encoder300 User s Manual 1 Setting area You can select counting mode and hardware reset settings then click on the Update parameter button to setup the PISO PS600 2 Encoder status area It shows the encoder counter value and C1 C6 HR1 HR6 status 3 The selection check box of dig Finally user can click the Update Parameter bottom to active system The encoder counter value will be presented on the screen and digital output will also be sent out at the same time If user clicks the stop bottom the demo program will stop to update the encoder status PISO ENC600 Demo Program ital output is designed in the middle of the panel User can choose which digital outputs will be send out by the mouse Al axis x1 x2 x3 x4 x5 X6 used the same setting Input Type ENC_QUADRANT C ENC_Cw_CCW ENC_PULSE_DIR M Enable Index Reset l Enable HR Reset Digital Output r Doo M DOT r D04 M DOS M DOZ M DO3 DOG M DO
15. d char cardNo unsigned char x1_mode unsigned char x2_mode PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 21 PISO Encoder600 PISO Encoder300 User s Manual unsigned char x3_ mode unsigned char x4_mode unsigned char x5_ mode unsigned char x6_mode Initialize PISO Encoder600 card s control registers and set all encoder counters based on procedures described in section 2 3 1 cardNo card number 0 15 x1_mode The value of X1 axis control register x2_mode The value of X2 axis control register x3_mode The value of X3 axis control register x4_mode The value of X4 axis control register x5_mode The value of X5 axis control register x6_mode The value of X6 axis control register According the control register table shown in below the encoder mode and counter resetting mode of every axis encoder can be set as the one of the following selections 1 ENC_QUADRANT 2 ENC_QUADRANT ENC_HR_RESET 3 ENC_QUADRANT ENC_INDEX_RESET 4 ENC_CW_CCW 5 ENC_CW_CCW_ ENC_HR_RESET 6 ENC_CW_CCW_ ENC_INDEX_RESET 7 ENC_PULSE_DIR 8 ENC_PULSE_DIR ENC_HR_RESET 9 ENC_PULSE_DIR ENC_INDEX_RESET WR1 X1 axis control register address Type msb7 6 5 4 3 2 1 oLsB con w crst hrRsT B1 Bo NH mst si so 5 ENC6_CONFIG unsigned char cardNo unsigned char x1_mode unsigned char x2_mode unsigned char x3_mode unsigned char x4_mode unsigne
16. d char x5_ mode unsigned char x6_mode PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 22 PISO Encoder600 PISO Encoder300 User s Manual This command can only configure hardware reset HRRST and encoder index reset CRST mode for all of encoder channels It is useful for user to enable the hardware reset or index reset within program cardNo card number 0 15 x1_mode x2_mode x3_mode x4_mode x5_mode and x6_mode are the control registers for every axis encoder as described in the above function Where x4_mode x5_mode x6_ mode could be to 0 if PISO Encoder300 card 6 unsigned long ENC6_GET_ENCODER unsigned char cardNo unsigned char axis This command reads the assigned axis s encoder counter value and returns it as a unsigned long type value cardNo card number 0 15 axis 1 6 where define X1_ axis define X2_axis define X3_axis define X4_axis define X5_axis define X6_axis OOA OUN 7 ENC6_RESET_ENCODER unsigned char cardNo unsigned char axis To reset the assigned axis s encoder counter value cardNo card number 0 15 axis 1 6 where define X1_axis define X2_axis define X3_axis define X4_axis define X5_axis define X6_axis OOA WN 8 unsigned char ENC6_GET_INDEX unsigned char cardNo unsigned char axis To get the assigned axis s input register The contents of input register C1 index HR1 hardware reset can be obtained using this comm
17. e INT 0 to inhibit counter latch And Set B1 B0 as 00 to import byte 0 data of 32 bit counter value Finally call inportb function to get data and store in unsigned long variable value 3b Set B1 B0 as 01 to import byte 1 data from 32 bit counter value The data needs to be shifted left by 8 bits 256L and is added to the result of counter value in 3a 3c Set B1 B0 as 10 to import byte 2 data from 32 bit counter value Then the data is shifted left by 16 bits 256L 256L and is added to the counter value in 3b 3d Set B1 B0 as 11 to import byte 3 data from 32 bit counter value Then the data is shifted left by 24 bits 256L 256L 256L and is added to the counter value in 3c 4 When all four bytes of the 32 bit counter value have been read the INT bit of control register has to be set as 1 to enable the function of counter latch that completes one full cycle of the reading operation for counter value Based on the above procedures user can repeat 3a 4 to achieve continuous PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 12 PISO Encoder600 PISO Encoder300 User s Manual acquisition of encoder counter value unsigned long value card cardNo ctrl1 amp 0xC7 1100 0111 set bit3 0 and select byte 0 to read outportb card cardNo base WR1 card cardNo ctrl1 value unsigned long inportb card cardNo base RD1 card cardNo ctrl1 0x10 0001 0000 select byte 1 t
18. er600 PISO Encoder300 User s Manual 2 3 1 Initializing the control register The first procedure is to initialize the encoder card by the control register In the following demo program the first step is to set the encoder mode by Ox8C x1_mode i e the quadrant mode is set And then the bit 2 of control register is set to 0 to enable the software reset mode Finally according to the address of PCIBase WR1 card cardNo ctrl1 base WR_1 the initial setting parameters are sent to the control register of PISO Encoder600 to confirm with the above setting In the bit 2 of control register is set to 1 to disable the software reset of counter value Similarly the bit 3 of control register should be set to 1 for forthcoming data latch Therefore the X1 axis encoder is ready to work ENC_QUADRANT ENC_QUADRANT is a pre defined constant 0x00 card cardNo ctrl1 0x3C x1_mode xx11 11xx set the counting mode enable software encoder reset mode card cardNo ctrl1 amp OxFB 1111 1011 set bit2 0 to reset the encoder counter outportb card cardNo base WR1 card cardNo ctrl1 card cardNo ctrl1 0x04 0000 0100 set bit2 1 to complete the reset outportb card cardNo base WR1 card cardNo ctrl1 2 3 2 Reading the X1 axis 32 bits encoder counter value After initializing the encoder card the program stated below is designated to acquire 32 bit encoder counter value which is described in section 2 2 2 3a Set th
19. file for PnP C Installing software Step 1 Insert the CD into CD ROM drive for example D Step 2 Click the Start Run menu item in the task Bar Step 3 Enter the path as if CD ROM drive is D PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 28 PISO Encoder600 PISO Encoder300 User s Manual D NAPDOS Motion PISO Encoder Win95 Setup SETUP EXE Step 4 Follow instructions of the installation process D After installation The enc600 dil will be copied into C Windows system The Napdio vxd will be copied into C Windows system 2 Installation for windows NT 2000 A Installing hardware Step 1 Shutdown and power off your computer Step 2 Plug the PISO Encoder600 in the PCI slot Step 3 Power on your computer B Installing software Step 1 Insert the CD into CD ROM drive for example D Step 2 Click the Start Run menu item in the task Bar Step 3 Enter the path as if CD ROM drive is D D NAPDOS Motion PISO Encoder WinNT Setup SETUP EXE Step 4 Follow instructions of the installation process C After installation The enc600 dll will be copied into C WINNT SYSTEM32 The Napwnt sys will be copied into C WINNT SYSTEM32 DRIVERS The following registry keys and values will also be created HKEY_ LOCAL_MACHINE system CurrentControlSet Services Napwnt ErrorControl 0x00000001 system CurrentControlSet Services Napwnt Start 0x00000002 system CurrentControlSet Services N
20. in connector 8 digital outputs DO1 DO8 6 digital inputs HR1 HR6 2500V optical isolation DOS Windows 95 98 Windows NT 2000 drivers BCB VB and Delphi demos with source code PISO Encoder300 only has 3 axis x1 x2 x3 3 index c1 c2 c3 and 3 hardware Reset HR1 HR2 HR3 Optional daughter board An optional DN 68 SCSI II 68 Pins daughter board comes with connection Cable It provides easy installation with PISO Encoder600 and hardware system 1 3 System Block Diagram The PISO Encoder600 has a 6 axis encoder counter And each axis has a 32 bit true counter with maximum counting rate of 1MHz It also offers three different types of PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 3 PISO Encoder600 PISO Encoder300 User s Manual the counting mode which are QUADRANT mode CW_CCW mode and PULSE_DIR mode User should choose the correct mode based on actual type of encoder Otherwise the PISO Encoder600 will not work properly Besides PISO Encoder600 also provides 3 different functions of counter resetting mode including register reset index reset and hardware reset The Index reset function is used to reset encoder counter through using a C C channel signal during every revolution The hardware reset function is adopted to reset encoder counter by a pre defined external signal pin namely HR1 HR6 Furthermore when PISO Encoder600 is not set on the hardware reset mode the pin
21. iselect Oninin enea eai E e EAA o A AAE A 5 2 2 Registers of the PISO Encoder600 PISO Encoder300 board s ssssssesesssssessesesssesesssrsssreresrsrsssseses 7 DPM ESIE EI E AD A castes E EAE A S A ETATE rod al a y 222 Counter Value Ve OS LCT nn A n Er ARATA a a A a aad a aah Soda hoes 9 2 2 3 Digital output register ssesesesssessesesisessssrsreresistststetssintstntststittsts tsis hivars Sowa Pouosacna Tented 10 22A Dieta ATUL HET TE a a a a nods a A a ae eat 11 De SPEC OU A0 LO SA eo EE E EEE E Ol la edeaaaone KED 11 2 3 1 Initializing the control register ssesssesessessesesesssessssesssisisssrsssristsrsrssuteesestuteresisistsrsnisterssee 12 2 3 2 Reading the X1 axis 32 bits encoder counter value ssssesssssessesesesesesssrsssesesrsrssereresisesrerss 12 2A Connec AO a a a s a a N N elma 14 24I Pins assennati re AENA SOR ER Gee Mn Rare AAA AEE 14 2 4 3 The internal circuit of encoder interface noeste iieiaeie esa ie ieie 17 2 4 3 Internal circuit of digital inputs HRI HR6 sssessssesesssssissesssesesesssrssesesesesrsreresesesesrersssresesese 18 2 4 4 Internal circuit of digital outputs DOLI DOS8 sesssssssesssssessesssisesesssrsseresesrsrsseresssesisrsrsninesesee 18 Zee Theconnection OL Encode snenia e aa a a a E E cated 19 VOEN N EEE AROE ale tha E EEE EEA EE A E 20 BAEN A NNR PEAP EE EA EE A AE A EA EAE E 20 3 1 1 Loading and unloading driver commands only for WIndOWS ccccecscssecssccscssecsssessesseeseens 21 Did
22. n digital output register section 2 2 3 and digital input register section 2 2 4 The detailed description of pins function for PISO Encoder600 is listed in Table 1 E5V FA O V EXT_GND Figure 3 J2 SCSI Il pins assignment PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 14 PISO Encoder600 PISO Encoder300 User s Manual Table1 J2 SCSI II 68 pins connector in n a u EVCC j encoder power 5V output 100mA only don t connect to others external 5V Ooa 2 X axis A input 1B 5 Xt axis B input ic 6 Xt axis C input X1 axis C input encoder power 5V output 100mA only don t connect to others external 5V X2 axis A input X2 axis A input X2 axis B input X2 axis B input X2 axis C input X2 axis C input encoder power 5V output 100mA only don t connect to others external 5V 3B 18 X3 axis B input 3 3B tg 3c 20 X3 axis C input 3 E 2 H H H H H H X3 axis B input 2 3 21 O 23 X1 axis hardware reset input pin 29 30 31 Not used 32 33 EXT_GND PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 15 B C R1 R2 R3 R4 R5 R6 C PISO Encoder600 PISO Encoder300 User s Manual EGND 35 lencoder power ground 4A 36 X4 axis A input PISO Encoder600 only 37 X4 axis A input PISO Encoder600 onl i _ 4Be
23. ng mode Pulse Direction counter 1 2 3 2 1 Pulse Direction Counting Mode Bit 2 RST Software counter reset It provides software reset method of encoder counter RST 0 enable encoder counter reset RST 1 disable encoder counter reset Bit 3 INH inhibit counter value latch INH 0 inhibit counter latch This bit should be set to 0 before reading out the counter value INH 1 enable counter latch Every time when data has been read out from the counter this bit should be set to 1 for latching next counter data Bits 5 4 B1 B0 byte selection of 32 bit counter value The data of 32 bit PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 8 PISO Encoder600 PISO Encoder300 User s Manual counter value is stored in 4 bytes Only one byte data can be read out for each time Therefore B1 and BO of control register are designated to select which byte will be chosen 00 byte 0 01 byte 1 10 byte 2 11 byte 3 Bit 6 HRRST Disable Enable hardware reset HRRST 1 enable hardware input to reset encoder counter That is when HRRST 1 and HRn is connected to EXT_GND encoder counter n will be reset to 0 where n indicates the encoder number n 1 2 6 HRRST 0 disable hardware reset of counter value Bit 7 CRST Disable Enable encoder index reset C C CRST 1 enable counter reset function by encoder index signal That is
24. o read outportb card cardNo base WR1 card cardNo ctrl1 value unsigned long inporto card cardNo base RD1 256L 3c card cardNo ctrl1 amp 0xC7 1100 0111 clear bits 5 4 of control register card cardNo ctrl1 0x20 0010 0000 select byte 2 to read outportb card cardNo base WR1 card cardNo ctrl1 value unsigned long inportb card cardNo base RD1 256L 256L ard cardNo ctrl1 0x30 0011 0000 select byte 3 to read outportb card cardNo base WR1 card cardNo ctrl1 value unsigned long inporto card cardNo base RD1 256L 256L 256L ard cardNo ctrl1 0x38 0011 1000 set bit3 1 outportb card cardNo base WR1 card cardNo ctrl1 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 13 PISO Encoder600 PISO Encoder300 User s Manual 2 4 Connection 2 4 1 Pins assignment The pins assignment of PISO Encoder600 board is shown in the following figure The power source of every encoder channel is designed for the DC 5V power source of host computer s PCB Therefore do not connect those pins with other DC 5V external power source And the maximum current of each encoder power is 100mA Besides user should apply external DC 24V power source across pins of EXT _VCC and EXT_GND in order to use digital inputs and outputs provided in PISO Encoder6000 Hence the digital inputs and outputs of PISO Encoder600 will work correctly based on the commands i
25. ollector type encoder we need to add exteral resistors to pull up voltage as shown in Figure 8 In general the pull up resistance is suggested to be 10KQ but it may vary with specifications of different encoders J2 A 1A O A BeBe O B 1B Encoder o _ 1c j C e d 5V 5V GND GND Figure 7 Connection between encoder and PISO Encoder600 card open collector type encoder Figure 8 Connection of open collector type encoder PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 19 PISO Encoder600 PISO Encoder300 User s Manual 3 Software The CD ROM of development tools coming with the product includes drivers and demo programs to help user building their own systems As you can see in the following figure of CD ROM s directories PISO Encoder600 supports software for development platforms of BCB version 3 Delphi version 3 Visual Basic version 5 and Visual C version 5 All software working with operation systems of DOS Windows 95 98 and NT 2000 are supplied Besides for every developing tool a number of demo programs are also provided with source code to reduce the learning period E dos H C Lib manual source Wind5 Demo Driver Beb3 Delphi3 b5 e5 a Winnt E Demo Beb3 Delphi3 b5 a Driver Beb3 Delphi3 b5 e5 m In the following section
26. s of HR1 HR6 can be open as digital inputs In addition PISO Encoder600 also offers 8 channels of digital output Every digital output and input digital I O is photo coupled isolated up to 2500Vrms The detailed function block diagram of PISO Encoder600 is demonstrated and summarized in the following figure SCSI II X1 X2 X3 X4 X5 X6 connector ioital a 2500Vrms put photo coupled digital isolation output Figure 1 block diagram of PISO Encoder600 PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 4 PISO Encoder600 PISO Encoder300 User s Manual 2 Hardware 2 1 Hardware address selection The hardware address of PISO Encoder600 board can be set as 0 15 by DIP switch AO A3 on the PISO Encoder600 board as shown in Figure 2 The factory hardware address setting is Hex 00 If the default address of this card is used by other device user can change the setting to various base addresses The addressing of PCI bus is defined in Table 1 According to the hardware address setting programmer should call function ENC6_REGISTRATION cardNo address to confirm with the hardware setting in the beginning of the program The more detailed description for function of ENC6_REGISTRATION will be presented in chapter 3 0x00 i i i AO Al A2 A3 oos RREN AO Al A2 A3 Figure 2 Hardware address selection Table 1 Hardware address setting PCI Address AO
27. unctions for every axis encoder channel of PISO Encoder600 WR1 X1 axis control register Address Type MSB7 6 5 4 3 2 4 coh w_ crst HRAst B1 Bo INH Ast s1 WR2 X2 axis control register Type mse7 6 5 4 3 2 4 w_ cast HRRst B1 Bo INH RST s1 WR3 X8 axis control register MSB 7 CRST HRRST B1 WR4 X4 axis control register PISO Encoder600 only Type Ner ea a a a a Dsh_ w cast HArst B1 Bo NH RsT st WR5_ X5 axis control register PISO Encoder600 only Adaress Type MSB7 6 5 4 3 2 4 _ coh w_ crst herst B1 Bo INH est st WR6 X6 axis control register PISO Encoder600 onl Address Type MSB 7 0 LSB een w Loner aest e1 eo aa ast si Note The above addresses are based on the PCI base address ex renee Ea For the X1 axis control register WR1 the function of individual register bit is described as follows PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 7 PISO Encoder600 PISO Encoder300 User s Manual Bits 1 0 S1 S0 the counting mode selection of encoder input 00 quadrant counting mode A B counter 12345 6 Quadrant Counting Mode 01 CW CCW counting mode CW CCW counter 1 2 3 2 1 CW CCW Counting Mode 10 Pulse Direction counti
28. volution The difference between the real value and the test value is caused by the counter value reset by the index signal C C That is the last 4 counter values are not added because encoder index signal is high during the last A B signal period and reset the counter value Therefore user can add 4 to final counter value to get the correct counter value for one revolution And this demo program can be used to check specification for one revolution pulse rev of encoder PISO Encoder600 PISO Encoder300 User s Manual Rev 1 1 April 2005 PPH 018 10 27 PISO Encoder600 PISO Encoder300 User s Manual Select axis to test 1 2 3 4 5 6 1 Revolution 1 The encoder counter value for one revolution is about 3996 Press any key to exit Figure 10 The result of the Demo1 exe 5 2 Windows installation 1 Installation for Windows 9x ME A Installing hardware Step 1 Shutdown and power off your computer Step 2 Plug the PISO Encoder600 in the PCI slot Step 3 Power on your computer B Windows Plug and Play PnP Step 1 During Windows startup it will find the PCI card and request user to provide an INF file for Plug amp Play The INF file for PISO Encoder600 is placed on the following folders 1 D NAPDOS Motion PISO Encoder Win95 Inf From the enclosed CD ROM 2 C DAQPro PISO Encoder_Win95 Inf From the hard disk after installing the software Step 2 Specify the above directory to provide the INF
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