User manual in pdf format (60K, last update 30 Apr 01)
Contents
1. RD40 cards Installation and user manual 1 Configuration 2 Installation 3 MS DOS interface 4 Windows and Windows 95 interface 5 Library functions description 6 Internal registers 7 Technical specifications 8 Visual Designer interface 1998 EL FA sas Corso Kennedy 32 21 10098 Rivoli TO ITALY Tel 011 9574088 Fax 011 9594900 e mail elpa elpa it 1 Configuration The board you have is already configured to manage 2 or 3 encoders working at 5V or 12V The user cannot change this configuration The only thing the user can change is the I O mapping address this can be done by inserting removing some jumpers from the socket The preset address is 210 hexadecimal that normally isn t used from PC if it s already used by other cards or if you need to install more than one RD40 card in the same PC you need to change the address of one or more cards to avoid address conflicts that can lock the PC This address can be changed by inserting removing some jumpers on the horizontal strip socket on the left of the card There are 8 jumpers corresponding to 8 address lines the leftmost is A9 the following is A8 up to the last one that is A2 Bits Al and AO are always fixed at 0 If you insert a jumper you request that bit to be 1 to address the card The presetted configuration has jumpers A9 and A4 inserted corresponding to address 210 hexadecimal The jumpers must be inserted only vertic2. ally Example if you need to setup the address 300 hexadecimal you need to insert only the 2 leftmost jumpers A9 and A8 2 Installation RD40 board must be inserted in a PC compatibile computer in an 8 bit ISA slot It s also possible to use a 16 bit ISA slot or a VESA slot in these cases the card will be inserted only in the 8 bit ISA portion of the slot To insert the board please read the computer installation manual and remember that the board can be inserted or removed only with the power supply switched off failure to do so disables warranty Your card has 2 or 3 female DB9 connectors that are functionally equal each of them can be connected to one incremental encoder or similar device Depending by the device you are using you must wire Unipolar 5V device A type cards 1 OV common 2 5V 3 Phase C 4 Phase B 5 Phase A Bipolar 5V device A type cards 1 OV common 2 5V 3 Phase C positive 4 Phase B positive 5 Phase A positive 7 Phase C negative 8 Phase B negative 9 Phase A negative Unipolar 12V device B type cards 1 OV common 2 12V 3 Phase C connect to pin 2 if not present 4 Phase B 5 Phase A Not indicated pins must not be connected If you are using unipolar 5V encoders with an A card you must remove from their sockets the resistor arrays R8 R9
3. and R10 It s not good practice to connect powered devices but it s possible to dis connect the encoders to the RD40 card when it s powered up Because there are ESD protection connected to the inputs it s forbidden to drive the input signals when the computer is powered off 3 MS DOS interface To interface with MS DOS in the provided disk there are several directories one for each supported compiler In these directories there are also some static libraries named RD40LIB LIB where the letter that substitutes the sign is the leading letter of the memory model used to compile the library for additional informations please refer to the TXT file in the same directory To use these libraries you need to include in the C source code the file RD40 H that contains the function s prototypes and to add to your project the library needed In the disk there is also the program RD40DTST EXE This program tests the RD40 card it displays the counter values and verifies the home search procedure This procedure can be de activated for tha various axes by pressing the keys 1 2 or 3 To quit the program you have to press the X key The program searches for a RD40 card at the address 210 hexadecimal if the board is mapped at a different address you must run the program with the address parameter in decimal format Example RD40DTST 768 to test a card mapped at address 300 hexadecimal 4 Wi
4. irectly to its internal registers mapped in the I O space It uses 4 consecutive addresses starting from the one selected with the jumpers To read the 24 bit counter value you need to access 3 8 bit register the register mapping is the following Offset Access Register description 00 Write Read configuration 00 Read Counter bits 0 7 or identification code 01 Write Reserved 01 Read Counter bits 8 15 02 Write Home search configuration 02 Read Counter bits 16 23 03 Write Reserved 03 Read Home search status Offset 00 Write Read configuration register Bit Description 0 0 Nothing 1 Latches the first encoder position in an internal register 1 0 Nothing 1 Latches the second encoder position in an internal register if present 2 0 Nothing 1 Latches the third encoder position in an internal register if present 3 5 Reserved 6 7 00 Selects first encoder reading 10 Selects second encoder reading if present O1 Selects third encoder reading if present 11 Selects identification register reading Offset 00 Read Encoder latched counter value or identification register Bit Description 0 7 Encoder latched counter value bits 0 7 0 7 0x59 Card RD40 2 0x5A Card RD40 3 Offset 01 Write Reserved Offset 01 Read Encoder latched counter value Bit Description 0 7 Encoder latched counter value bits 8 15 Offset 02 Write Home axes configuration register Bit Description 0 0 First e
5. ncoder home search disabled 1 First encoder home search enabled 1 0 Second encoder home search disabled 1 Second encoder home search enabled 2 0 Third encoder home search disabled 1 Third encoder home search enabled 3 7 Reserved Offset 02 Read Encoder latched counter value Bit Description 0 7 Encoder latched counter value bits 16 23 Offset 03 Write Reserved Offset 03 Read Home axes status of the selected encoder Bit Description 0 6 Reserved 7 0 Home search disabled 7 Technical specifications Maximum input frequency Maximum count frequency Latency time Counter lenght Load resistance 5V cards Dynamic termination resistance Load resistance 12V cards Differential threshold 5V cards Unipolar threshold level 5V cards Input low current 5V cards Threshold level 12V cards 5V Supply current RD40 3A card 12V Supply current Maximum encoder supply current Operating temperature Doesn t include encoders supply current 10 2 MHz 8 MHz 250 ns 24 bit 1 1 Kohm 120 Q 3 3 Kohm 100 mV 1 66 V 1 62 mA 6 V 210 mA 0 mA 750 mA from 0 to 70 C 9 Visual Designer interface In the disk there is also the directory VIS_DES that contains several directories one per every implemented language To install the driver you have to copy from the right directory the file RD40_VD DLL in the MO subdirectory of the directory in which there is Visual Designer a
6. nd the file RD40_VD HLP in the Visual Designer directory After doing this from Diagram you can select a new type IO block called Encoder RD40 Further explanations about configuration inputs outputs and working are in the help file that you can access in the classic Visual Designer style 11
7. ndows and Windows 95 interface To interface with Windows and Windows 95 you can use static or dynamic libraries If you use static libraries please read the chapter MS DOS interface because the operations requested are exactly the same as the previous case otherwise in the same directories there are also dynamic libraries named RD40DLL DLL with their link modules named RD40DLL LIB and the include file RD40 H Also in this case you must substitute the sign with the leading letter of the memory model you wish to use To use dynamic library you need to include in the C or C source code the file RD40 H and to add to your project the file RD40DLL LIB corresponding to the memory model used Before running the compiled program you have also to copy in the Windows directory or in the same directory where there is the program the file RD40DLL DLL Attention not all libraries works on all operating systems Please refer to the TXT file in the directory In the disk there is also a program named RD4OWTST EXE to test the card It must be started from Windows or Windows 95 and it s similar to the MS DOS version Also the optional parameter is identical and the default value is 210 hexadecimal The only difference is that the user interface is the Windows one 5 Library functions description All libraries contain the same functions char _far rd40_config char encoder unsig
8. ned int address char channel It configures an encoder input this function must be called only at startup once for every managed encoder The first parameter is the encoder to setup internal numeration from O to 31 the second parameter is the card s address please refer to the Installation chapter the third one is the connector on the card O bottom l center 2 top If you specify an address in which there isn t a RD40 card or a not existing connector the function returns RD40_NOT_FOUND char _far rd40_getcnt char encoder long count Reads into the variable count the counter value of the selected encoder the encoder parameter follows the internal numbering In the read value only the 24 LSB are valid the 8 MSB are only a sign extension char _far rd40_ishomed char encoder It returns RD40_HOMING if the selected encoder is searching the home position char _far rd40_home char encoder char enable Enables or disables depending by parameter enable the home search procedure of the selected encoder This procedure is automatically ended when the phase C signal becomes active These functions can return the following values RD40_OK if they complete correctly RD40_BAD_PARAMETER if one or more parameters are bad RD40_NOT_DEFINED if you are trying to use an encoder that wasn t configured with the function rd40_config 6 Internal registers The card can also be used by reading writing d
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