Hardware Manual V2.2
Contents
1. idi 118 UUUUUU GB CIA HEEEBE g P U17e 1 7 ToD 174mm eire e m eec gt c27 et 2000000000 eire U10 gt UT CE noce jen nos 0 Weeeeceses t 7 55 SRI JPL 9 lt 0000000000 e 9 9 e mani ee e U4 ee e 7 e ec 1000000000 ger e eee HL 000000000 coon f es U3 i t BUF2 us ui2d ui4d duis KE Hooooooooo h 9999090 ee Se RE e U2 i 6 hg ee meee a eee 0060066601 612114111 ff Se e og2. ENC 9266 02 0 1 CN Wess 14 nee i eer H90900009 NWAGION UL6 ee e eleleee e e e V Y IIIIIIIIIIIIIIUIIIIIII II9IOIII 4 3 ADP 9266DIN Din rail mounted wiring board layout FG H C C B A A EXTG 5V EXTG 24V N lt H ENC 9266 O O O O e soso 99909099 ber SVLO eire 06000000 06000000 20009000 20009000 UU C FG 44 ADP 9266DIN Din rail mounted wiring board dimension e mm gt FG H C Cr B B A Wu EXTG 24V EXTG TPI FS PLO 4mm Y _ 3 72mm e e e e e e e e e e e e Z e fel 2097010500099 201700 s e se EXTGA A C C H FG EXTGA A B B C FG 5 CNI Pin definitions 5 1 Front view of connector didis s s External power input 12 24 2 X B PHASE 3 X C PHASE External power input 12 24V 4 X HOME External power input 12V 24 5 Y APHASE External power input GND 6 YB PHASE External power input GND 7 Y C PHASE External power input GND 8 Y HOME Regulated output 5V 9 Z APHASE Regulated output 45V 10 Z_B PHASE Regulated output 45V DSL PHASE Regulated outpu GND 1a A HOME Regulated outpu GND 13 NC Regulated outpu GND Notes In normal c
3. 08lu gt counter data print on screen end 17 12 Ordering information PRODUCT DESCRIPTIONS ENC 9266 3 axis Quadrature Encoder Counter Card ADP 9266DIN DIN rail mounted wiring board for ENC 9266 differential to single end M270325X4 D type 25p male female cable 1 5M M270325X4S D type 25p male female cable 1 5M shielding M270325X0 D type 25p male female cable 3 0M M270325X08 D type 25p male female cable 3 0M shielding 18 13 Functions of registers 13 1 Chip programming Each channel is implement with one specific designed chip which occupies 2 I O addresses Inside the chip there are several registers to control its functions MCR master control register ICR input control register OCR output control register QR quadrature control register SR status register PR counter preset buffer 3 BYTES OL counter output latched buffer 3 BYTES CY CARRY CYT CARRY TOGGLE BW BORROW BWT BORROW TOGGLE EQ EQUAL EQT EQUAL TOGGLE Since each channel has the same chip we take X axis as example ref Function block diagram BASE ADDRESS 0 READ Read OL WRITE I O BASE ADDRESS 4 READ Read SR RITE Write to control registers MCR DATA MUST BE 00XXXXXX ICR DATA MUST BE 0100XXXX OCR DATA MUST BE 10XXXXXX QR DATA MUST BE 111111XX 19 gt ICR gt OCR QR occupies same address MCR master control register only
4. screw to fix the card Connect the cable between the card and wiring board Connect the external power supply for the wiring board Recheck everything is OK before system power on A N External power on Congratulation You have it For more detail of step by step installation guide please refer the file installation pdf on the CD come with the product or register as a member of our user s club at http automation com tw to download the complementary documents 1 Forward Thank you for your selection of our ENC 9266 encoder linear scale interface card In the field of automation encoder and linear scale as feedback or measuring element is common used in the microprocessor control system But for the versatile application in PC based control only a few selections you can make We integrate 3 axes channels in one card and provide photo coupler isolation and experienced functions Low cost and high performance makes this card a better choice Other encoder linear scale interface card LSI 2104 4 axes quadrature encoder linear scale counter card ISA bus LSI 3104 4 axes quadrature encoder linear scale counter card PCI bus LSI 3123L low cost 3 axes quadrature encoder linear scale counter card no touch probe trigger latch function PCI bus LSI 3123 3 axes quadrature encoder linear scale counter card PCI bus LSI 3123A 3 axes quadrature encoder linear scale counter card with fast c
5. the data format will accept BIT7 BITS BIT4 BIT3 BIT2 BITO must be 0 BIT6 MASTER RESET bit must be 0 set to 1 the CNTR ICR OCR BWT CYT EQT and address pointer of PR OL will reset to 0 PR reset to FFFFFF and SIGN to 1 reset EQT EQT 0 load CNTR from PR 24 BITS 1 reset CNTR BWT gt CNTR 0 BWT 0 CYT 0 and SIGN SIGN 1 1 load OL from CNTR 24 BITS 1 reset address pointer of PR OL ICR input control register only the data format 0100xxxx will accept BIT6 BITS BIT4 BIT3 BIT2 BIT1 BITO must be 0 must be 1 must be 0 must be 0 1 ENABLE input 0 DISABLE A B input 1 counter down count one pulse i e CNTR 1 if A B input is ENABLED P S after set 2 1 program encountered once then ICR buffer value decreased by 1 0 null counter up count one pulse i e CNTR 1 if A B input is ENABLED P S after set BIT1 1 if program encountered once then ICR buffer value increased by 1 0 null 1 1 set A input as CLOCK input B input as DIRECTION input While B 0 upcount B 1 down count 20 OCR output control register only the data format 10xxxxxx will accept BIT7 must be 1 BIT6 must be 0 BITS BIT4 don t care BIT3 must be 0 BIT2 1 divide N mode during CY or BW occurred CNTR will load from PR
6. tutis t ae EI nS re 12 ATEN are Se UIS oec cvv vote SS ui Ete 13 8 1 Setting of counter clear 13 8 2 Polarity setting of home L S and zero phase input 13 8x ACARD Address s tting oben 14 acoso cte E sal aa u ss kit u Costa ice a dieere fs 15 91 CARD Address setting SW2 ss sise eese Vaya ee UR ER e eR EN eaa RUE NE E APR LN DA 15 ApplicalOHs ede vedete mc abd gles Ricca ud eL ELLE EI 16 Programming examples DEMO ua ee nt ae den tte 17 llo PACU ARS AV ANG 24 0 le Lea E Mee 17 Ordering Information u s a 18 PUM OMS E FES IS VETS psi dos ms la u na s un ua na una qa ne 19 13 1 Chip programmibg utr Presto ne r ne Sn On 19 13 2 Special MINCHOM of u u ted eG acne iio Lot nine 23 13 3 Status of zero phase and home YA UN SSA QNA Uo Ee aa Pha ona PR 23 Dunctonab did Eam op oaa tbe e vases 24 Notes on hardware installation Please follow step by step as you are installing the control cards Be sure your system is power off Be sure your external power supply for the wiring board is power off Plug your control card in slot and make sure the golden fingers are put in right contacts Fasten the
7. 0 counting mode 1 single counting mode Load or reset CNTR begins counting stopped while CY BW occurred Note In this counting mode CY and BW has no output but CYT and BWT is available for checking end of count 0 counting mode BITO 1 BCD counting mode 0 BINARY counting mode X Note If QR is set as quadrature mode gt A B input will become A PHASE and B PHASE input 0 set A input as UP CLOCK input B input as DOWN CLOCK inoput QR quadrature control register only the data format 111111xx will accept BIT7 must be 1 BIT6 must be 1 BITS must be 1 BIT4 must be 1 BIT3 must be 1 BIT2 must be 1 gt 00 non quadrature counting mode 01 quadrature counting mode and multiply X 1 10 quadrature counting mode and multiply X 2 11 quadrature counting mode and multiply X 4 21 SR status register data read in the format 111xxxxx BIT7 returns 1 BIT6 returns 1 BITS returns 1 BIT4 UP DOWN 1 currently up count returns 1 in non quadrature mode 0 currently down count BIT3 SIGN 1 CNTR OVERFLOW 0 CNTR UNDERFLOW BIT2 EQT toggles while CNTR PR CYT toggles while CARRY occurs BITO BWT toggles while BORROW occurs PR counter preset buffer 3 byte long Programming sequence as follows 1 Write OOXX0X01 to MCR RESET PR OL ADDRESS POINTER 2 Write to PR LOAD LSB INTO PR AND INCREMENT ADDRESS POINTER 3 Wr
8. E Y CLR X ZERO Y ZERO Z ZERO 13 8 3 CARD Address setting Dip switch SW2 is used for base address setting a ENC 9266 card occupied 8 consecutive I O locations The address and switch bit mapping is as follows any bit sets on means the corresponding address bit 0 For example of base address 280H needs to set as the diagram shown Note is used as polarity setting of ZHOME Combined as portion of Dip SW1 SW2 1 0 1 0 0 0 0 DIP SW2 Example of address optional setting 1 2 3 4 5 6 7 8 ZHOME A9 A8 A6 5 M AB 0 14 9 Operations 9 1 CARD Address setting SW2 X Note ENC 9266card occupied consecutive eight of I O locations and do not conflict with others 15 10 Applications For counting pulses on the fly such as Encoder on servo vector motor Encoder on hybrid micro stepping motor Encoder on DC AC motor Optical scale Magnetic linear scale Timing disk sprocket Pulse signal receiver display 16 11 Programming examples DEMO 11 1 Language availed short source prog of ENC DEMO C include lt dos h gt include lt conio h gt include lt ctype h gt include lt stdio h gt void main begin unsigned long counter data reading counter value store to memory location clrscr cl
9. ENC 9266 Encoder Linear Scale Interface Card User s Manual V2 2 FF BRAT IR 8 JS AUTOMATION CORP amp JU 22 ak h 100 6 HE 6F No 100 Chungshin Rd Shitsu Taipei Taiwan R O C TEL 886 2 2647 6936 FAX 886 2 2647 6940 http www automation com tw E mail control cards automation com tw Correction record Version Record 10 11 12 13 14 Contents rijs PEN 4 ae 5 2 FING 9260 Main CAE a asnaq aps anu tete peti es RE cogi tu nti 5 Specification Siy uuu alana taxes Narnia des Mn fend 6 3 1 ENC 9266 M h CADO a oeil ene pero cta ed nn me td 6 3 2 ADP 9266DIN Din rail mounted wiring board 7 Lavobst and TENSIONS AT syn sae was RS E 8 4 1 ENC 9266 Main card layout usciti tere peste wed bd endet 8 42 ENC 9266 Mati card 8 43 ADP 9266DIN Din rail mounted wiring board layout 9 44 ADP 9266DIN Din rail mounted wiring board dimension 9 CNT o obese ct ft oA a cnet To ER qu 10 5 1 view Of CONNECIOR s uu ibas aea omit aset 10 I O Interface dIagram u s vus eter lea Bra a vU vo Fue 11 11 External Witnes di gtaM EDU p obs nm
10. annels X Y Z total 3 Channels 3 1 8 Pulse Rate 0 1 M pps 3 1 9 Input pulse multiply rate X2 X4 programmable quadrature signal only 3 1 10 Counting Mode Up Down at Binary Or decimal 3 1 11 Input Mode CLOCK DIRECTION UP CLOCK DOWN CLOCK QUADRATURE 3 1 12 Counting Length 3 Bytes 3 1 13 Connection 25 Pins D Type female connector 3 1 14 Per wiring board 3 channels 3 Home I P 3 1 15 External Power Supply 12V DC 24V DC 3 1 16 Operation temperature 0 to 70 C 3 1 17 Operation humidity RH5 95 non condensing 3 1 18 Dimensions 174mm 108mm 6 85 W 4 25 H in 3 2 ADP 9266DIN Din rail mounted wiring board 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 27 External Supply DC 12V 24V Differential to single end conversion for ENC 9266 Specific Input 3 Axis A A B B C C Connector One D type 25 pin male connector Operation Temperature 0 to 70 degree C Operation Humidity RH5 95 non condensing Dimension 86 W 113 L 45 H mm 3 39 W 4 45 L 1 77 H in 4 Lavout and dimensions 4 1 ENC 9266 Main card layout e gt ER cure JS AUTOMATION CORP ENC 9266 V2 0 eco eoo deoo Polarity setting DIP SW1 sss I O Address setting DIP SW2 4 2 ENC 9266 Main card dimension e U7
11. ear screen printf Please set ENC 9266 base address to 280H WM outportb 0x281 0x20 initial set 20H gt store initial set value to MCR counter outportb 0x281 0x48 initialset 48H set phase A B input outportb 0x281 0x90 initial set OCR 90H set binary mode outportb 0x281 gt OxFF initial set QR FFH set quadrant resolution of per phase signal printf Press any key to preset counter value M printf set counter 6476936 n getch waiting keyboard input then load to counter as pre setting value outportb 0x281 0x01 pre store address index to PR OL outportb 0x280 0x88 write lower portion of bytes 6476936 D 62D488 H outportb 0x280 OxD4 write middle portion of bytes outportb 0x280 0x62 write high portion of bytes outportb 0x281 0x08 load to counter form pre setting of counter reading keyboard input then display on screen clrscr printf X CNTR 00000000 n printf Press any key to stop program _setcursortype _NOCURSOR while kbhit continuous reading value in counter while keyboard still inactive outportb 0x281 0x03 write to MCR 03H pre store address index to PR OL counter data inportb 0x280 inportb 0x280 256L inportb 0x280 65536L read value in counter store to counter data read 3 bytes then shift to do ADD gotoxy 14 gt 1 cprintf
12. ite to PR LOAD MIDDLE BYTE INTO PR AND INCREMENT ADDRESS POINTER 4 Write to PR LOAD MSB INTO PR AND INCREMENT ADDRESS POINTER If you want to load CNTR from PR 5 Write 00001000 to MCR TRANSFER PR TO CNTR OL counter output latched buffer 3 BYTES Programming sequence as follows 1 Write 00000011 to MCR RESET PR OL ADDRESS POINTER AND TRANSFER CNTR TO OL 2 Read OL READ LSB OF OL AND INCREMENT ADDRESS POINTER 3 Read OL READ MIDDLE BYTE OF OL AND INCREMENT ADDRESS POINTER 4 Read OL READ MSB OF OL AND INCREMENT ADDRESS POINTER 22 13 2 Special function of Z axis After power on the Z counter of Z axis should be programmed as counter or timer If timer function based on 14 318 MHZ is required the programming sequence is as follows l Before power on disconnect the Z axis input No need any input in this mode 2 Write XXXXXXXI to BASE ADDRESS 6 to enable 14 318 MHZ time base clock 3 Other functions may program as previous sections If we take Z axis counter as general count like X Y axes l Before power on connect the Z axis input 2 Write XXXXXXX to BASE ADDRESS 6 to switch input to external terminals 3 Other functions may program as previous sections 13 3 Status of zero phase and home Status can be read from BASE ADDRESS 7 BIT7 undefined BIT6 undefined BITS Zero phase status of Z axis BIT4 Home status of Z axis BIT3 Zero phase s
13. oordinate rebuild function PCI bus LSI 3134 4 axes quadrature encoder linear scale counter card with FIFO compare mode PCI bus LSI 3144 4 axes high performance encoder linear scale counter card PCI bus Any comment is welcome please visit our website www automation com tw for the up to date information 2 Features 2 ENC 9266 Main card Common to X Y Z channel 2 1 1 High noise immunity with photo coupler isolation 2 1 2 High speed of receiving pulse up to pps 2 1 3 Programmable Z channel counter as standard calendar clock 2 1 4 Built in DC DC converter for encoder linear scale 2 1 5 Programmable counter in binary or decimal mode 2 1 6 Input signal involved A B Z and Home sensor per channel 2 1 7 Dip switch selectable polarity for Z and Home sensor 2 1 8 Dip switch selectable counter clear at coincidence of Z and Home sensor 2 1 9 Programmable multiply rate at X1 X2 X4 2 1 10 Programmable single or dual pulse input mode Special function for Z channel 2 1 11 Software programmable calendar clock time base 14 318MHZ 3 Specifications 3 ENC 9266 Main card 3 1 1 Input photo coupler isolation voltage 2500Vac Imin 3 1 2 Insulation resistance 100M Ohm min at 1000 Vdc 3 1 3 Data width 8 Bits 3 1 4 I O address length 10 Bits per location selectable on Dip switch 3 1 5 Per I O addressing 6 locations 3 1 6 Base address with range 100H to 3FFH increment by 8 3 1 7 Ch
14. ounter mode application A PHASE input maybe programmed as CLOCK for single phase clock mode or UP COUNT for dual phase clock mode B PHASE input maybe programmed as DIRECTION for single phase clock mode or DOWN COUNT for dual phase clock mode 10 I O Interface diagram 6 1 Input diagram 11 7 External wiring diagram D Type cable from main card To Encoder Power in X Axis 5Vout A ph EXTG phase SUL m EXTG A Ac phase ULE 24Vin x B VUS 12Vdc 24Vdc Home sensor 12 8 Hardware settings 8 1 Setting of counter clear condition If you wish to clear counter during home L S and zero phase are both active you should set the corresponding bit of that axis to on position to activate the function The definition of each bit is as follows W1 8 2 Polarity setting of home L S and zero phase input Both polarity of home L S and zero phase input from encoder linear scale are different from each other of manufactures This card provides polarity to adjust for different type devices Any bit set on means the polarity is active low and else is active high The definition of each bit is looked as follows including portion of Dip SW1 amp Dip SW2 SWI BIT4 BITS BIT6 BIT7 BIT8 X ZERO X HOME Y ZERO Y HOME Z ZERO SW2 Z HOME DIP SW1 Example of polarity optional setting 0 MORE 1 2 3 4 5 6 7 8 X CLR Z CLR Y HOM
15. tatus of Y axis BIT2 Home status of Y axis BIT1 Zero phase status of X axis BITO Home status of X axis 29 14 Functional diagram DATA BLS CHIP SELECT INPUT CS 2 IREAD INPUT AB tweire INPUT WE 1 CONTROL CONTAOLIDATA INPUT c ns Loci COUNT INPUT ES n CY CARRY OUTPUT COUNT INPUT d BW BORROW OUTPUTI GATEMESET COUNTER ABTT ATTR 4 LOAD COUNTERILOAD LATCH CETR CCTC INTERNAL o BOE PRI wants PRI ivi voo 8 eS cpm FIGURE 8 BLOCK DIAGRAM 24
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