B&B Electronics 2IQEC2 Manuale utente

2IQEC2/43798 Manual Cover Page

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Quadrature Encoder Counter Board

Models: 2IQEC2 2IQEC4

Documentation Number 2IQEC2/43798

This product

Designed and Manufactured

In Ottawa, Illinois

USA

of domestic and imported parts by

B&B Electronics Mfg. Co. Inc.

707 Dayton Rd. P.O. Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Internet:

http://www.bb-elec.com

[email protected]

1998 B&B Electronics -- September 1998

2IQEC2/43798 Manual Table of Contents i

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Table of Contents

CHAPTER 1: INTRODUCTION............................................................ 1

PACKING LIST........................................................................................... 1

ADDRESS SWITCH SETUP.......................................................................... 1

SPECIFICATIONS........................................................................................ 2

CHAPTER 2: INSTALLATION............................................................. 3

SOFTWARE INSTALLATION........................................................................ 3

INSTALLING THE CARD ............................................................................. 3

CARD SETTINGS........................................................................................ 3

Address................................................................................................. 3

IRQ....................................................................................................... 5

Configuring the jumpers ...................................................................... 6

SOFTWARE REGISTERS.............................................................................. 8

Flag Register........................................................................................ 8

Reset and Load Signal Decoders (RLD)..............................................8

Counter Mode Registers (CMR) .......................................................... 9

Input/Output Control Register (IOR)................................................. 10

Index Control Registers (IDR)........................................................... 11

CHAPTER 3: TROUBLESHOOTING..................................................12

APPENDIX A: HARDWARE I/O MAP.............................................A-1

I/O MAP OF XT CLASS MACHINES.......................................................A-1

HARDWARE I/O MAP OF AT CLASS MACHINES...................................A-2

APPENDIX B: SPECIFICATIONS/TIMING DIAGRAMS.............B-1

PIN DESCRIPTION................................................................................. B-1

ADDRESSES........................................................................................... B-1

TRANSIENT CHARACTERISTICS............................................................. B-2

Quadrature Mode............................................................................. B-2

Non-Quadrature Mode..................................................................... B-2

APPENDIX C: TYPICAL SET-UP EXAMPLES..............................C-1

2IQEC2/43798 Manual 1

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Chapter 1: Introduction

The 2IQEC2/4 is a 2/4 channel quadrature encoder 24 bit

counter card used to track the position of up to 4 separate

encoders. This card is an ISA card that can be used in either an 8

or 16 bit slot. This card allows the computer to keep track of

position without a lot of CPU overhead, freeing it up for more

important tasks.

The 2IQEC2/4 offers a huge amount of flexibility. Upon a

borrow or carry the card can be configured to reset, load a preset,

cause an interrupt request or simply send out a TTL signal to

indicate the carry or borrow. The card contains two inputs that can

be configured to clear the counter or load the preset into the

counter. The index lines may also be used to clear the counter,

load the preset or cause an interrupt. The four channels use IRQ

sharing to prevent all the computer's resources from being taken up

by this card. The interrupt service routine can poll the card to find

out which channel caused the interrupt request.

Packing List

Examine the shipping carton and contents for physical damage.

The following items should be in the shipping carton:

1. 2IQEC2 or 2IQEC4

2. 2IQEC2/4 3.5" disk

3. This instruction manual

If any of these items are damaged or missing contact B&B

Electronics immediately.

Address Switch Setup

The 2IQEC2/4 cards use a 7-position DIP switch to program

the binary I/O address of each port on the card. The 2IQEC2/4

cards are factory configured for address 0x300 with no IRQ. If you

plan on installing the 2IQEC2/4 with these settings, check the switch

settings to ensure that they did not get inadvertently changed during

shipping.

2 2IQEC2/43798 Manual

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Specifications

 Bus: IBM PC ISA Bus

 Slot: Requires 1 full length slot for complete IRQ selectability.

When installed in a short slot, IRQs 10-15 will not be available.

The four channel card requires an additional space to mount the

connectors in the back panel. This space does not need a slot

on the motherboard.

 Dimensions: 8.75" x 4.4"

 I/O connection: 15-pin female D-sub connectors

 Interrupt: IRQ 2-7, 10-12, 14, or 15.

 Address: Switch programmable, 0 to hex 7F0

 RS-422 Differential inputs

Differential input high-threshold voltage 0.2V maximum

Differential input low threshold voltage -0.2V maximum

Input differential voltage range 1.5 to 6 volts

 TTL inputs

Input high threshold 2 V Maximum

Input low threshold 0.7 V Maximum

Input voltage range -0.2 to 5.5 volts

 TTL outputs

1 mA source @ 4.375 V

5mAsink@0.5V

 12 MHz count rate in quadrature 4X mode.

 24-bit counters for up to four axes on 2IQEC4

(two axes on 2IQEC2)

 Digital filtering of the quadrature clocks

 Power Consumption

+5 VDC @ 250 mA

(See additional specifications in Appendix B.)

2IQEC2/43798 Manual 3

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Chapter 2: Installation

Software Installation

The 2IQEC2/4 comes with a useful example program. This

example program may be used royalty free when used with the B&B

Electronics 2IQEC2/4. Any other use is strictly prohibited. To install

this example file on your hard drive:

1. Place the disk in drive A:

2. Type A: and press the <ENTER> key.

3. Type Install and press the <ENTER> key.

4. Follow the instructions given by the program.

Installing the Card

1. Turn the power to your computer off.

2. Remove the cover of the computer. Be sure to use proper

grounding techniques.

3. Pick any full length (16-bit) unused slot. Although the 2IQEC2/4

cards will work in a short (8-bit) slot, IRQ's 10-15 will not be

available.

4. Remove the expansion slot cover. Save the screw for

installation of the 2IQEC2/4 card.

5. Set the address, IRQ, and other jumper settings. See Card

Settings in the next section for instructions on setting the

address and IRQ.

6. Install the 2IQEC2/4 card into the unused slot. Be certain that

the card is inserted completely into the slot.

7. Secure the card with the mounting screw.

Card Settings

Address

Switch S1 configures the address of the card. Switches

represent a 0 in the ON position, 1 when OFF. The address lines

are labeled on the card. SA10 is the MSB and SA4 is the LSB.

Table 1 shows the numerical weight and electrical connection of

each switch position.

4 2IQEC2/43798 Manual

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Table 1. Address Switches

1st Digit 2nd Digit

Switch

Position 7 654321

Bus

Connection SA10 SA9 SA8 SA7 SA6 SA5 SA4

Decimal

Weight 1024 512 256 128 64 32 16

Hex Weight 400 200 100 80 40 20 10

To set the address of the 2IQEC2/4 card at some common

locations, follow the switch settings shown in Table 2.

Table 2. Frequently Unused Port Addresses

Base

Hex

Address

Binary

Equivalent Switch

Settings

MSB LSB

7654321

I/O Space

Description

200 1000000000 0100000 game port

300 1100000000 0110000 prototype

310 1100010000 0110001 prototype

380 1110000000 0111000 SDLC

3A0 1110100000 0111010 bisync com

To install at another address, follow the procedure below.

1. Select the address. Using an I/O port usage table (one is

included in Appendix A) select an unused hex address

space. Note that the card occupies 16 bytes of I/O space.

Use caution when selecting a port address. It is very

important that nothing else is installed at the selected

address.

2. Convert the hex address to its binary equivalent.

3. Throw away the 4 least significant bits.

4. The remaining 7 digits represent the switch address. 1's

represent an OFF switch. 0's represent an ON switch.

2IQEC2/43798 Manual 5

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

IRQ

The 2IQEC2/4 card allows the use of interrupts (IRQ) 2-7,

10-12, 14, and 15. This interrupt is shared with all the channels. To

determine the channel that caused the interrupt, the interrupt

service routine must read the address located at the base address

plus 8. The lower nibble will indicate which channel caused the

interrupt. Where bit 0 is the X-Axis, bit 1 is the Y-Axis, bit 2 is the Z-

Axis, and bit 3 is the W-Axis. The upper nibble is not used. To

clear the interrupt, the interrupt service routine must read or write to

the address located at base address plus 12 (0xC). The IRQ is set

by placing a jumper on JP1. Only one jumper should be placed on

JP1 at any one time. Check Table 3 for common interrupt uses.

The conditions required to generate an interrupt can be

selected by the use of jumpers. Each axis is independently

configured. Note that more than one condition can be configured to

generate the interrupt. Note that the use of an interrupt is not

required.

Table 3. Hardware Interrupts

IRQ AT machines XT machines

2routed to IRQ controller 2 Reserved

3serial port COM2,4 Serial port COM2,4

4serial port COM1,3 Serial port COM1,3

5LPT2 hard disk

6floppy disk Floppy disk

7LPT1 parallel printer port 1 (LPT1)

8real-time clock not available

9re-directed to IRQ2 not available

10 Unassigned not available

11 Unassigned not available

12 Unassigned not available

13 Coprocessor not available

14 hard disk not available

15 Unassigned not available

6 2IQEC2/43798 Manual

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Configuring the jumpers

The jumpers located on the left side of the card make it

easy to configure the card to your individual needs. The jumpers

are grouped by axis and function. The top group of jumpers is for

the X axis. Then next groups going down are for the Y-axis, Z-axis,

and W-axis respectfully. There are three signals that can be routed

via these jumpers. They are the FLG1 and FLG2 outputs from the

counter chips, and the index from the encoder. The FLG1 and

FLG2 outputs are software configurable. The FLG1 can be

configured to act as a carry (pulse on counter overflow), compare

(pulse when counter equals the preset register), index, or carry and

borrow (pulse on either an overflow or an underflow of the counter).

The FLG2 can be configured to act as a borrow, up-down indicator,

or an error flag. These outputs are brought to the user connectors.

The first jumpers labeled JP4, JP8, JP12 and JP16 allow

you to select what conditions cause the counter to be loaded with

the preset value in the preset register. The middle jumpers labeled

JP3, JP7, JP11, and JP15 allow you to select what conditions cause

the counter to be reset or the counter to be enabled depending on

the software configuration of the input. The last jumpers labeled

JP2, JP6, JP10, and JP14 are used to define what conditions cause

an interrupt (IRQ).

JP5 selects the type of input encoder signals for the X and

Y axes not including the index. Set jumper JP5 for RS-422

differential mode and remove the jumper for TTL level encoder

input. When in differential mode the TTL output of the differential

receivers is present at the TTL pins. Leave these pins unconnected

in differential mode.

JP13 selects the type of input encoder signals for the Z and

W axis not including the index. Set jumper JP13 for RS-422

differential mode and remove the jumper for TTL level encoder

input. When in differential mode the TTL output of the differential

receivers is present at the TTL pins. Leave these pins unconnected

in differential mode.

JP9 selects the type of input from the index pins. This

jumper affects all the axes' index inputs. Set jumper JP9 for RS-422

differential mode and remove the jumper for TTL level encoder

input. When in differential mode the TTL output of the index

receivers is present at the TTL pins. Leave these pins unconnected

in differential mode.

2IQEC2/43798 Manual 7

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Location of Jumpers

8 2IQEC2/43798 Manual

B&B Electronics -- PO Box 1040 -- Ottawa, IL 61350

PH (815) 433-5100 -- FAX (815) 433-5105

Software Registers

Flag Register (Read Data Address)

The FLAG register is a read-only register that holds the

status information of the counters and can be read out on the data

bus. To read the FLAG byte for any axis, read the control address

of that axis. FLAG Byte Defined

76543210

BT: Borrow toggle flip-flop.

Toggles every time CNTR underflows

CT: Carry toggle flip-flop.

Toggles every time CNTR overflows

CPT: Compare toggle flip-flop.

Toggles every time PR equals CNTR.

S: Sign flag. Set to 1 when CNTR underflows.

Reset to 0 when CNTR overflows

E: Error flag. Set to 1 when excessive noise is present at

the count inputs in quadrature mode. Irrelevant in non-

quadrature mode.

U/D': Up/Down flag. Set to 1 when counting up

And reset to 0 when counting down

IDX: Index. Set to 1 when selected index input is at active

level.

0: Not used. Always reset to 0.

Reset and Load Signal Decoders (Write to Control Address)

The following functions can be performed by writing to the

control address for that axis. Note that bits 5 and 6 define the

RLD Byte Defined

76543210

X00XXXX0NOP

X00XXXX1ResetBP

X00XX00XNOP

X 0 0 X X 0 1 X Reset CNTR

X 0 0 X X 1 0 X ResetBT,CT,CPT,S

X00XX11XResetE

X0000XXXNOP

X0001XXXTransferPRtoCNTR

X0010XXXTransferCNTRtoOL

X0011XXXTransferPR0toPSC

000XXXXXSelecttheRLDaddressed by X'/Y input

100XXXXXSelectbothXRLDandYRLDorZRLDandWRLDtogether

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