Omega Engineering EN-EIC-325-PCI manual

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1 FOUR AXIS ENCODER INTERFACE CARD M M M O O O D D D E E E L L L 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. 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,[...]

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 (rea[...]

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– / [...]

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[...]

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 [...]

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: [...]

9 3.1.1. Windows The various Windows folders supply the files required for the driver installation. The Win95/98 driver includes an ActiveX control. The WinNT/2K/XP drivers include two options: an ActiveX control and a DLL. The DLL uses the popular ‘stdcall’ calling convention recognizable by VB, VC, Delphi etc. The ActiveX control and the DLL [...]

10 WinNT/2K/XP • ActiveX Control Copy the .ocx file from your ‘OCX for WinNT_2K_XP’ folder to your WinSysPath folder and register it by Start, Run, 'regsvr32 WinSysPath ImsEncPci.ocx'. • DLL Copy the .dll file from your ‘DLL for WinNT_2K_XP’ folder to your WinSysPath folder. WinSysPath is:[...]

11 3.1.2. VB Select the ‘VB’ folder that corresponds to your driver installation (section 3.1.1). You'll find here a full illustration in VB 5.0 (named "EncPciTest") that demonstrates how to use the various functions to communicate with the card. There are two versions: one using the ActiveX control, the other using the DLL. The [...]

12 • The display of the Hardware EventFlags Output reflects what SHOULD be in these outputs analyzing the Software EventFlags Outputs as well as user's operations that may affect the Hardware EventFlags Output, as described in section 3.5.4, functions #22 and #24. Actually, the EncPciTest program simulates card's response and concludes [...]

13 3.2. INTRODUCTION TO THE FUNCTIONS Each encoders pair is handled by a "chip": Chip #1 includes Encoder Interfaces A and B. Chip #2 includes Encoder Interfaces C and D. The following functions serve the DOS C/C++ programmer as well as the Windows programmer. • The DOS C/C++ programmer should include EncPci.h in his source file, and En[...]

14 3.3. CARD LEVEL FUNCTIONS # Brief Description Name Arguments (in C Syntax) Full Description 1 Supply a ‘Card Handle’ to the n-th EN- EIC-325-PCI card (if exists). (First n is 0.) GetCardHandle (long* CardHandle , short CardIndex ) Call this function in loop in your initialization. Start with CardIndex=0 and increment it each iteration. Stop [...]

15 # Brief Description Name Arguments (in C Syntax) Full Description 5 Set Active Chip SetActiveChip (long CardHandle , short ChipNumber ) Makes the specified chip active. All the following functions refer to that active chip. 6 Get Active Chip GetActiveChip (long CardHandle , short* ChipNumber ) Gets the current active chip (Chip1 or Chip2). 7 Tes[...]

16 3.4.2. I/O # Brief Description Name Arguments (in C Syntax) Full Description 8 Read the inputs of a chip, the EventFlags of its two encoders, and the Voltage Failure. ReadInputs (long CardHandle , short* Inputs , short* EncoderEventFlags ) Reads 5 or 6 chip's logical inputs, the two flags of its EncoderEvents, and, in case of Chip #1, the V[...]

17 3.5. ENCODER LEVEL FUNCTIONS 3.5.1. RESOLUTION # Brief Description Name Arguments (in C Syntax) Full Description 10 Set Encoder Resolution SetEncoderResolution (long CardHandle , short EncoderNumber , short ClocksPerCycle ) Selects the appropriate resolution that fits user's encoder. 11 Get Encoder Resolution GetEncoderResolution (long Card[...]

18 3.5.2. INDEX # Brief Description Name Arguments (in C Syntax) Full Description 12 Set Index Pulse Polarity SetIndexPulsePolarity (long CardHandle , short EncoderNumber , short Polarity ) Selects the polarity of the index (marker) pulse coming from user's encoder. 13 Get Index Pulse Polarity GetIndexPulsePolarity (long CardHandle , short Enc[...]

19 3.5.3. SETPOINT # Brief Description Name Arguments (in C Syntax) Full Description 16 Set Set Point SetSetPoint (long CardHandle , short EncoderNumber , long SetPoint ) Defines the Set Point Register (SPR). Reaching the SPR (i.e., meeting the condition IPC = SPR) may become the trigger of the Event Signal. SetPoint : The desirable SPR. Should con[...]

20 3.5.4. EVENT SIGNAL # Brief Description Name Arguments (in C Syntax) Full Description 18 Set Source of Encoder's EventFlag SetEncoderEventFlag Source (long CardHandle , short EncoderNumber , short EventFlagSource ) Selects a condition that becomes the trigger of the Event Signal. Upon meeting this condition, an Event Signal is supplied, bot[...]

21 22 Set Hold Mode of Hardware Encoder's EventFlag SetHoldEncoderEvent Flag (long CardHandle , short EncoderNumber , short OnOffMode ) Determines the "hold" characteristic of the hardware Event Signal: OnOffMode : Off: Hardware signal remains "as is" – no holding mechanism. On: Hardware signal is held until running an ex[...]

22 3.5.5. POSITION COUNTER # Brief Description Name Arguments (in C Syntax) Full Description 25 Reset (=clear) Position Counter ResetPositionCounter (long CardHandle , short EncoderNumber , short OutputsMirror ) Clears the Internal Position Counter (IPC) of one or two axes. OutputsMirror : This argument is described within the function WriteOutputs[...]

23 3.6. ARGUMENTS The constants of the arguments are available as follows: * In VB they are included in the example source file. * In VC they are in the EncPciConst.h file in the VC folder; refer to the ReadMe.txt file. * For DOS C/C++, the arguments, along with the headers of the functions, are in the file CPPEncPci.h. * For other environments, r[...]

24 #define TurnOn 1 #define TurnOff 0 // EnabledDisabledMode : #define SetEnabled 1 #define SetDisabled 0 // Polarity: #define ActiveOnHigh 1 #define ActiveOnLow 0[...]

25 APPENDIX A: SPECIFICATION Introduction A half-size PC card. Supports four optical encoders with either Square-wave or Sine output, both linear and rotary types. Directly connected to the encoders and also provides the excitation. Single / Multiple encoder pulses: Interpolation = 1, 2 or 4 (software selectable). Independent operation mode for eac[...]

26 I/O Index input per each axis (indicating Marker/Home/Zero). The user may instruct the card to reset its counter and/or generate an "Event Signal" output upon recognizing the index input. 11 Logical Inputs. The inputs are TTL/CMOS compatible Schmidt trigger single ended. Ten of them are general inputs and one is being used for requesti[...]

27 Software Method of communication with PCI bus: I/O ports. Software included: An ActiveX control to communicate with the card in Win95/98/NT/2K/XP. For WinNT/2K/XP thereʼs also a DLL option instead of the ActiveX control. A basic example in Visual C and a detailed example in VB. Example and source code on how to communicate with the board under [...]

28 APPENDIX B: DRAWINGS Connector Wiring for the Inputs[...]

29 Connector Wiring for the Outputs[...]

30 APPENDIX C: CARD INSTALLATION ? ? Install your card only after driver installation (section 3.1.1). Win95/98 1. Shut down your PC (i.e., power off). 2. Insert the new card into a free PCI slot. 3. Turn on your PC. 4. During the Windows 95/98 startup, the following window will appear: Add New Hardware Wizard This wizard searches for new drivers f[...]

31 9. Click: Next 10. Wizard displays: Unsupported Device. Windows has not installed a driver for this device. This is normal either. Click: Finish WinNT 1. Shut down your PC (i.e., power off). 2. Insert the new card into a free PCI slot. 3. Turn on your PC. ? ? For Win2K/XP instructions please refer to the following pages.[...]

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39 APPENDIX D: PRODUCT DEVELOPMENT Main Milestones in Product Development: • Dec. ʼ01: V1.00: Product launching. • Apr. ʼ02: V1.02: Support under WinNT/2K/XP (refer to section 3.1.1 & appendix C). • May ʼ02: V1.03: In addition to the OCX, a DLL is supplied too (WinNT/2K/XP only). • May ʼ03: V2.00: New feature: Option to request a sn[...]

W ARRANTY / DISCLAIMER OMEGA ENGINEERING, INC. warrants this unit to be free of defects in materials and workmanship for a period of 13 months from date of purchase. OMEGA ’ s W ARRANTY adds an additional one (1) month grace period to the normal one (1) year product warranty to cover handling and shipping time. This ensures that OMEGA ’ s custo[...]

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