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EN-EIC-325-PCI
Four Axis PCI Encoder
Interface Card
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User’s Guide
Servicing North America:
U.S.A.: One Omega Drive, P.O. Box 4047
ISO 9001 Certified Stamford, CT 06907-0047
TEL: (203) 359-1660
FAX: (203) 359-7700
e-mail: [email protected]
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Laval (Quebec) H7L 5A1, Canada
TEL: (514) 856-6928
FAX: (514) 856-6886
e-mail: [email protected]
For immediate technical or application assistance:
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Customer Service: 1-800-622-2378/1-800-622-BEST®
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FAX: (001) 203-359-7807
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Czech Republic: Frystatska 184, 733 01 Karviná, Czech Republic
TEL: +420 (0)59 6311899
FAX: +420 (0)59 6311114
Toll Free: 0800-1-66342
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TEL: +49 (0)7056 9398-0
FAX: +49 (0)7056 9398-29
Toll Free in Germany: 0800 639 7678
e-mail: [email protected]
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M44 5BD United Kingdom
TEL: +44 (0)161 777 6611
FAX: +44 (0)161 777 6622
Toll Free in United Kingdom: 0800-488-488
e-mail: [email protected]
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It is the policy of OMEGA Engineering, Inc. to comply with all worldwide safety and EMC/EMI
regulations that apply. OMEGA is constantly pursuing certification of its products to the European New
Approach Directives. OMEGA will add the CE mark to every appropriate device upon certification.
The information contained in this document is believed to be correct, but OMEGA accepts no liability for any
errors it contains, and reserves the right to alter specifications without notice.
WARNING: These products are not designed for use in, and should not be used for, human applications.
1
FOUR AXIS ENCODER INTERFACE CARD
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Version 2.01,
Oct. 2003
2
TABLE of CONTENTS
Section Page
1
GENERAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1.1
ENCODER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1.1.1
IPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1.1.2
SOFTWARE OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1.1.3
SOFTWARE INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.2
CARD’S HARDWARE I/O . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.2.1
HARDWARE INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.2.2
HARDWARE OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2.
CARD’S HARDWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2.1
DATA BUS and ADDRESS BUS . . . . . . . . . . . . . . . . . . . . . .
4
2.2
PIN LAY-OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
3.
SOFTWARE INTERFACE WITH THE CARD . . . . . . . . .
7
3.1
INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
3.1.1
Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
3.1.2
VB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
3.1.3
VC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
3.1.4
CPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
3.1.5
More . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
3.2
INTRODUCTION TO THE FUNCTIONS . . . . . . . . . . . . . . .
13
3.3
CARD LEVEL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . .
14
3.4
CHIP LEVEL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
3.4.1
ACTIVE CHIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
3.4.2
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
3.5
ENCODER LEVEL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . .
17
3.5.1
RESOLUTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
3.5.2
INDEX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
3.5.3
SETPOINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
3.5.4
EVENT SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
3.5.5
POSITION COUNTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
3.6
ARGUMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
APPENDIX A
SPECIFICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
APPENDIX B
DRAWINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
APPENDIX C
CARD INSTALLATION . . . . . . . . .. . . . . . . . . . . . . . . . . . . .
30
APPENDIX D
PRODUCT DEVELOPMENT . . . . . . . . . . . . . . . . . . . . . . . .
39
3
1. GENERAL DESCRIPTION
• The EN-EIC-325-PCI handles four axes of user's encoders. Each user's
encoder is directly attached to the Encoder Interface on the card.
• The EN-EIC-325-PCI includes eleven logical inputs, and three general
outputs.
• The EN-EIC-325-PCI is I/O mapped.
1.1. ENCODER INTERFACE
Note: Each of the registers IPC, XPC and SPR, mentioned below,
represents an unsigned integer 24 bit number ranging from 0 to 16777215.
In case the user needs also negative values, he should refer to 16777215 as
–1 and so on, thus changing the range 0 – 16777215 to –8388608 –
+8388607
Each Encoder Interface includes the following elements:
1.1.1. IPC
The IPC (Internal Position Counter) is updated continuously according to
the input from user's encoders.
The updating of the IPC is affected by the Clock Resolution, that may be
set to 1, 2 or 4 Clocks/Cycle.
1.1.2. SOFTWARE OUTPUTS
a. The XPC (eXternal Position Counter) is a latch counter being equalized
to the IPC upon user's request – either via PC’s software, or by a
hardware (real-time) input.
b. "Event Signal" – produced when a pre-defined condition is met.
This software Event Signal is supplied also in the hardware outputs as
described in section 1.2.2 / ii. The user may select one of the following as
the pre-defined condition that becomes the trigger of the event:
•IPC = SPR
Each Encoder Interface includes an SPR (Set Point Register) being
adjustable by the user.
In case the user selects this condition, an event occurs when IPC =
SPR.
•IPC Overflow
In case the user selects this condition, an event occurs when there's
overflow in the IPC, that is, IPC changes from 16777215 to 0, or
vice versa.
•Index
In case the user selects this condition, an event occurs when an index
(marker) signal arrives from user's encoder.
4
1.1.3. SOFTWARE INPUTS
a. Data Request to request an XPC update.
For example, upon Data Request on the A axis, the following operation is
done:
XPC A⇐ IPC A
Notes:
1. Data Request may be applied on a single axis, or (all at once) on:
axes pair (A+B or C+D), or all four axes.
2. Besides this software Data Request, there is also a hardware (real-time)
Data Request applied on all four axes, as described in section 1.2.1 / ii.
b. Reset to clear the IPC.
For example, upon Reset on the A axis, the following operation is done:
IPC A⇐ 0
Note: Reset may be applied on a single axis, or (all at once) on an
axes pair (A+B or C+D).
1.2. CARD'S HARDWARE I/O
1.2.1. HARDWARE INPUTS
i. Inputs #1–#10: Ten general inputs (reflected by software outputs).
ii. Input #11: Data Request to request all XPC’s update:
Upon this hardware Data Request, the following operations are done (all at once):
XPC A⇐ IPC A ; XPC B⇐ IPC B ; XPC C⇐ IPC C ; XPC D⇐ IPC D .
In other words – this Data Request is a hardware real-time equivalent to the software
function RequestPositionCounter (CardHandle, Encoder4, OutputsMirror)
(this is function #26 in section 3.5.5.) .) The minimal pulse width should be 20 ns;
the ‘snapshot’ is produced when the pulse goes low.
1.2.2. HARDWARE OUTPUTS
a. Three general outputs (reflecting software inputs).
b. Four outputs of the Event Signals, as described in section 1.1.2 / ii. The user
may define these outputs to be held until he sends an explicit "Clear" request.
2. CARD'S HARDWARE
The EN-EIC-325-PCI uses the PCI bus of the PC.
2.1. DATA BUS and ADDRESS BUS
* The Data bus is 32 bits connected to the PCI.
* The Address bus is 32 bits (I/O access only, on lower 1MB mode).
* The Address access space is 16 bytes, located from Base Address to
Base Address + 15. The Base Address is allocated by the system each PC
power-up.
* Bus controls – see the PCI standard version 2.1.
5
2.2. PIN LAY-OUT
The drawings of the input/output connections are in Appendix B.
Encoder Inputs
Function
D-Type
44 pin No.
Vcc
31
Index+
17
GND
2
Index–
32
Sine– / Phase A–
18
Sine+ / Phase A+
3
Cosine+ / Phase B+
33
Encoder A
Cosine– / Phase B–
4
GND
20
Vcc
5
Index+
35
Sine+ / Phase A+
21
Index–
6
Sine– / Phase A–
36
Cosine– / Phase B–
22
Encoder B
Cosine+ / Phase B+
7
Vcc
23
GND
38
Index–
24
Index+
9
Sine+ / Phase A+
39
Cosine+ / Phase B+
25
Sine– / Phase A–
10
Encoder C
Cosine– / Phase B–
40
Vcc
41
Index+
27
GND
12
Index–
42
Sine– / Phase A–
28
Sine+ / Phase A+
13
Cosine+ / Phase B+
43
Encoder D
Cosine– / Phase B–
14
GND
30
Notes:
1. Total max. current 0.7A.
2. The inputs can be sine (sine and cosine) or square (phases A and B).
3. For single ended inputs use the ‘–’ input only.
The two non-connected wires per each encoder (Sine+ and Cosine+
should be floating, not grounded.
4. All the five GND pins (2, 20, 38, 12 and 30) are shortened. They
appear five times to make the wiring easier.
6
Logical Inputs
Function
D-Type
44 pin No.
Input #2
16
Input #1
1
Input #3
19
Input #4
34
Input #5
37
Input #11
8
Input #7
26
Input #6
11
Input #8
29
Input #9
44
Input #10
15
GND
30
ENCODERS' EVENT SIGNALS AND GENERAL OUTPUTS
Function
D-Type
9 pin No.
VExt+
1
Encoder A
6
Encoder B
2
Encoder C
7
Event Signal
Encoder D
3
Output #1
8
Output #2
4
General Output
Output #3
9
VExt–
5
Notes:
1. Max. (consumed) current 15 mA + outputs drained current.
2. +/– VExt = 5–24 V.
7
3. SOFTWARE INTERFACE WITH THE CARD
3.1. INSTALLATION
The main files and folders of the software package are as
follows:
Win95_98
Install.exe
WRTdevN.VxD (Ten files: N=0,...,9)
ImsEncPci.ocx
VB
VC
WinNT
WinRT.sys
ImsEic325-PCINT4.reg
Win2K
EIC325_P.sys
ImsEic325-PCIWDM.inf
WinXP
EIC325_P.sys
ImsEic325-PCIWDM.inf
OCX for WinNT/2K/XP
ImsEncPci.ocx
VB
VC
ReadMe.txt
EncPciConst.h
EncPciBasicTest
DLL for WinNT/2K/XP
EIC325PCI.dll
EIC325PCI.lib
VB
VC
ReadMe.txt
EncPciConst.h
EncPciFunctions.h
EncPciBasicTest
CPP
More
Copy these folders (you may skip the irrelevant items) under some new folder
on your hard disk, say ‘C:\ImsEnc325-PCI’.
8
The VB folders
The VB folders include an illustration program, which is
essential for any user, not only the VB programmer. For any
environment you are using – refer to the relevant VB folder.
Note:
If Visual Basic is NOT installed on your computer, then
before running the (VB produced) program EncPciTest.exe
(recommended), please verify that:
1. Your WinSysPath folder includes the following two files:
* Richtx32.ocx
* Riched32.dll
2. The Richtx32.ocx file is registered. It should be, as it is
self-registering. However, if a manual registering is still
required, apply:
Start, Run, ‘Regsvr32 WinSysPath\Richtx32.ocx’
WinSysPath is:
If needed, you’ll find the above two files in the software
package.
Indice
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