PCI-1784U User Manual 4-Axis Quadrature Encoder & Counter Card

PCI-1784U User Manual 4-Axis Quadrature Encoder & Counter Card
PCI-1784U
4-Axis Quadrature Encoder
& Counter Card
User Manual
Copyright
The documentation and the software included with this product are copyrighted 2008 by Advantech Co., Ltd. All rights are reserved. Advantech
Co., Ltd. reserves the right to make improvements in the products
described in this manual at any time without notice. No part of this manual may be reproduced, copied, translated or transmitted in any form or
by any means without the prior written permission of Advantech Co., Ltd.
Information provided in this manual is intended to be accurate and reliable. However, Advantech Co., Ltd. assumes no responsibility for its use,
nor for any infringements of the rights of third parties, which may result
from its use.
Acknowledgements
Intel and Pentium are trademarks of Intel Corporation.
Microsoft Windows and MS-DOS are registered trademarks of
Microsoft Corp.
All other product names or trademarks are properties of their respective
owners.
Part No. 2003178420
Edition 3.1
Printed in Taiwan
June 2008
PCI-1784U User Manual
ii
Product Warranty (2 years)
Advantech warrants to you, the original purchaser, that each of its products will be free from defects in materials and workmanship for two years
from the date of purchase.
This warranty does not apply to any products which have been repaired or
altered by persons other than repair personnel authorized by Advantech,
or which have been subject to misuse, abuse, accident or improper installation. Advantech assumes no liability under the terms of this warranty as
a consequence of such events.
Because of Advantech’s high quality-control standards and rigorous testing, most of our customers never need to use our repair service. If an
Advantech product is defective, it will be repaired or replaced at no
charge during the warranty period. For out-of-warranty repairs, you will
be billed according to the cost of replacement materials, service time and
freight. Please consult your dealer for more details.
If you think you have a defective product, follow these steps:
1.
Collect all the information about the problem encountered. (For
example, CPU speed, Advantech products used, other hardware
and software used, etc.) Note anything abnormal and list any
onscreen messages you get when the problem occurs.
2.
Call your dealer and describe the problem. Please have your manual, product, and any helpful information readily available.
3.
If your product is diagnosed as defective, obtain an RMA (return
merchandize authorization) number from your dealer. This allows
us to process your return more quickly.
4.
Carefully pack the defective product, a fully-completed Repair and
Replacement Order Card and a photocopy proof of purchase date
(such as your sales receipt) in a shippable container. A product
returned without proof of the purchase date is not eligible for warranty service.
5.
Write the RMA number visibly on the outside of the package and
ship it prepaid to your dealer.
iii
Declaration of Conformity
CE
This product has passed the CE test for environmental specifications
when shielded cables are used for external wiring. We recommend the use
of shielded cables. This kind of cable is available from Advantech. Please
contact your local supplier for ordering information.
FCC Class A
Note: This equipment has been tested and found to comply with the limits
for a Class A digital device, pursuant to part 15 of the FCC Rules. These
limits are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the instruction
manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference
at his own expense.
FCC Class B
Note: This equipment has been tested and found to comply with the limits
for a Class B digital device, pursuant to part 15 of the FCC Rules. These
limits are designed to provide reasonable protection against harmful
interference in a residential installation. This equipment generates, uses
and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interference to radio
communications. However, there is no guarantee that interference will
not occur in a particular installation. If this equipment does cause harmful
interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct
the interference by one or more of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to
which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.
PCI-1784U User Manual
iv
FM
The PCI-1784U has passed the FM certification. According to the
National Fire Protection Association, work sites are classified into different classes, divisions and groups, based on hazard considerations.
PCI-1784U is compliant with the specifications of Class I, Division 2,
Groups A, B, C and D indoor hazards.
Technical Support and Assistance
Step 1. Visit the Advantech web site at www.advantech.com/support
where you can find the latest information about the product.
Step 2. Contact your distributor, sales representative, or Advantech's customer service center for technical support if you need additional
assistance. Please have the following information ready before
you call:
- Product name and serial number
- Description of your peripheral attachments
- Description of your software (operating system, version, application software, etc.)
- A complete description of the problem
- The exact wording of any error messages
Safety Instructions
1.
Read these safety instructions carefully.
2.
Keep this User's Manual for later reference.
3.
Disconnect this equipment from any AC outlet before cleaning.
Use a damp cloth. Do not use liquid or spray detergents for cleaning.
4.
For plug-in equipment, the power outlet socket must be located
near the equipment and must be easily accessible.
5.
Keep this equipment away from humidity.
6.
Put this equipment on a reliable surface during installation. Dropping it or letting it fall may cause damage.
7.
The openings on the enclosure are for air convection. Protect the
equipment from overheating. DO NOT COVER THE OPENINGS.
8.
Make sure the voltage of the power source is correct before connecting the equipment to the power outlet.
v
9.
Position the power cord so that people cannot step on it. Do not
place anything over the power cord.
10.
All cautions and warnings on the equipment should be noted.
11.
If the equipment is not used for a long time, disconnect it from the
power source to avoid damage by transient overvoltage.
12.
Never pour any liquid into an opening. This may cause fire or electrical shock.
13.
Never open the equipment. For safety reasons, the equipment
should be opened only by qualified service personnel.
14.
If one of the following situations arises, get the equipment checked
by service personnel:
a. The power cord or plug is damaged.
b. Liquid has penetrated into the equipment.
c. The equipment has been exposed to moisture.
d. The equipment does not work well, or you cannot get it to work
according to the user's manual.
e. The equipment has been dropped and damaged.
f. The equipment has obvious signs of breakage.
15.
DO NOT LEAVE THIS EQUIPMENT IN AN ENVIRONMENT
WHERE THE STORAGE TEMPERATURE MAY GO BELOW 20° C (-4° F) OR ABOVE 60° C (140° F). THIS COULD DAMAGE THE EQUIPMENT. THE EQUIPMENT SHOULD BE IN A
CONTROLLED ENVIRONMENT.
16.
CAUTION: DANGER OF EXPLOSION IF BATTERY IS
INCORRECTLY REPLACED. REPLACE ONLY WITH THE
SAME OR EQUIVALENT TYPE RECOMMENDED BY THE
MANUFACTURER, DISCARD USED BATTERIES ACCORDING TO THE MANUFACTURER'S INSTRUCTIONS.
The sound pressure level at the operator's position according to IEC 7041:1982 is no more than 70 dB (A).
DISCLAIMER: This set of instructions is given according to IEC 704-1.
Advantech disclaims all responsibility for the accuracy of any statements
contained herein.
PCI-1784U User Manual
vi
Safety Precaution - Static Electricity
Follow these simple precautions to protect yourself from harm and the
products from damage.
1.
To avoid electrical shock, always disconnect the power from your
PC chassis before you work on it. Don't touch any components on
the CPU card or other cards while the PC is on.
2.
Disconnect power before making any configuration changes. The
sudden rush of power as you connect a jumper or install a card may
damage sensitive electronic components.
vii
PCI-1784U User Manual
viii
Contents
Chapter
Chapter
Chapter
1 Introduction ..................................................... 2
1.1
1.2
1.3
Features ............................................................................ 2
Applications ..................................................................... 4
Installation Guide ............................................................. 5
1.4
1.5
1.6
Software Overview ........................................................... 7
Device Driver Programming ............................................ 8
Accessories ..................................................................... 10
Figure 1.1:Installation Flow Chart ................................. 6
2 Installation ..................................................... 12
2.1
2.2
2.3
Unpacking ...................................................................... 12
Driver Installation .......................................................... 13
Hardware Installation ..................................................... 17
2.4
Device Setup & Configuration........................................ 19
Figure 2.1:Device Name on the Device Manager ........ 18
Figure 2.2:Device Manager Dialog Box ...................... 19
3 Signal Connections ........................................ 22
3.1
3.2
Overview ........................................................................ 22
Switch & Jumper Settings .............................................. 22
3.3
Signal Connections ......................................................... 24
Figure 3.1:Card Connectors, Jumpers & Switches ...... 22
Table 3.1:Summary of Jumper Settings ....................... 22
Figure 3.2:I/O Connector Pin Assignments ................. 24
Table 3.2:I/O Connector Signal Descriptions .............. 25
Figure 3.3:Quadrature Encoder (up/down) Input ........ 27
Figure 3.4:Isolated Digital Input Connections ............. 28
Figure 3.5:Isolated Digital Output Connections .......... 28
Appendix A Specifications ................................................. 30
Appendix B Block Diagram ............................................... 34
Appendix C Register Structure & Format ....................... 36
C.1
C.2
Overview ........................................................................ 36
I/O Port Address Map ................................................... 36
C.3
Counter 0/1/2/3 Mode - BASE+00/04/08/0CH .............. 40
C.4
Counter 0/1/2/3 Latch - BASE+00/04/08/0CH .............. 42
C.5
Counter 0/1/2/3 Compare - BASE+10/14/18/1CH ........ 43
C.6
Interrupt Control Register - BASE+20H ........................ 44
C.7
Interrupt Status Register - BASE+20H .......................... 45
Table C.1:Register Format (Part 1) .............................. 37
Table C.2:Register Format (Part 2) .............................. 38
Table C.3:Register Format (Part 3) .............................. 39
Table C.4:Register for Counter 0/1/2/3 Mode ............. 40
Table C.5:Register for Counter 0/1/2/3 Latch Data ..... 42
Table C.6:Register for Counter 0/1/2/3 Compare Data 43
Table C.7:Register for Interrupt Control ..................... 44
ix
Table of Contents
Table C.8:Register for Interrupt Status ........................ 45
C.8
Clear Interrupt - BASE+24H .......................................... 46
C.9
Clear Interrupt - BASE+24H .......................................... 47
C.10
Software Latch - BASE+28H.......................................... 47
C.11
Board ID — BASE+28H ............................................... 48
C.12
Reset Counter - BASE+2CH........................................... 49
C.13
Digital Output - BASE+30H ........................................... 49
C.14
Digital Input/Output - BASE+30H ................................. 50
Table C.9:Register for Clock Control .......................... 46
Table C.10:Register for Clear Interrupt ....................... 47
Table C.11:Register for Software Latch ...................... 47
Table C.12:Board ID Data ........................................... 48
Table C.13:Register for Reset Counter ........................ 49
Table C.14:Register for Digital Output ....................... 49
Table C.15:Register for Digital Input/Output .............. 50
Appendix D Operation ....................................................... 52
D.1
D.2
D.3
D.4
D.5
D.6
D.7
Quadrature Encoder Introduction ................................... 52
Counter Modes ............................................................... 53
Digital Noise Filter ......................................................... 54
Latch Mode .................................................................... 55
Counter Reset Value ....................................................... 56
Timer Function................................................................ 56
Interrupt Function .......................................................... 57
PCI-1784U User Manual
x
CHAPTER
1
2
Introduction
Sections include:
• Features
• Applications
• Installation Guide
• Software Overview
• Device Driver Programming
• Accessories
Chapter 1 Introduction
Thank you for buying the Advantech PCI-1784U. The PCI-1784U is a 4axis quadrature encoder and counter card for PCI bus. This card includes
four 32-bit quadruple AB phase encoder counters, 8-bit timer with multi
range time-base selector, four isolated digital inputs, and four isolated
digital outputs. Its flexible interrupt sources are suitable for motor control
and position monitoring.
The following sections of this chapter will provide further information
about features of the multifunction cards, a Quick Start for installation,
together with some brief information on software and accessories for the
PCI-1784U card.
1.1 Features
• Four 32-bit up/down counters
• Single-ended or differential inputs
• Pulse/direction and up/down counter
• x1, x2, x4 counts for each encoder cycle
• Optically isolated up to 2500 VDC
• 4-stage digital filter with selectable sampling rate
• Onboard 8-bit timer with wide range time-based selector
• Multiple interrupt sources for precision application
• Four isolated digital inputs
• Four isolated digital outputs with flexible function
• Board ID
PCI-1784U User Manual
2
The PCI-1784U offers the following main features:
Encoder Interface
Each channel includes a decoding circuit for incremental quadrature
encoding. Inputs accept either single-ended or differential signals.
Quadrature input works with or without an index, allowing linear or
rotary encoder feedback.
Counters
The PCI-1784U has four independent 32-bit counters. The maximum
quadrature input rate is 2 MHz, and the maximum input rate in counter
mode is 8 MHz. You can individually configure each counter for quadrature decoding, pulse/direction counting or up/down counting.
Digital Input and Interrupts
The PCI-1784U provides four digital input channels. Each channel
accepts digital input as an index input for a rotary encoder or as a home
sensor input for a linear encoder. The card can generate an interrupt to the
system based on a signal from its digital inputs, overflow/underflow and
over-compare/under-compare of its counters, or on a programmed time
interval. It can repeatedly generate interrupts at any time interval you
specify, from 20 microseconds to 51 seconds. These interrupts let you
precisely monitor the speed of a control system.
Flexible Digital Output function
The PCI-1784U provides four digital output channels. Each channel
accepts digital output as a normal TTL output for a rotary encoder or as
an indicated output with pulse/level mode for a linear encoder. The PCI1784U can generate an indicated output based on a signal from over-compare/under-compare of its counters. The pulse width of an indicated output depends on the counter clock or clear interrupt.
3
Chapter 1
Special Shielded Cable for Noise Reduction
The PCL-10137H shielded cable is specially designed for the PCI-1784U
for reducing noise. Its wires are all twisted-pair type with the input signals and output signals separately shielded, providing minimal cross talk
between signals and the best possible protection against EMI/EMC problems.
Keeping the Counter Values & Output Status after System Reset
Users can independently use the four counter channels. When the system
is hot reset (power not shut down), the PCI-1784U can either retain the
last counter values and the output status, or return to its default configuration, depending on the jumper setting. This practical function eliminates
dangers caused by improper operation during unexpected system reset.
Board ID
The PCI-1784U has a built-in DIP Switch that helps define each card’s ID
when multiple PCI-1784U cards have been installed on the same PC
chassis. The board ID setting function is useful when users build their
system with multiple PCI-1784U cards. With correct board ID settings,
you can easily identify and access each card during hardware configuration and software programming.
Note:
For detailed specifications of the PCI-1784U,
please refer to Appendix A, Specifications.
1.2 Applications
• Motion control
• Position sensing, monitoring and measuring
• Coordinate measuring machines
• X-Y table monitors
• Robotics
• Machine control
PCI-1784U User Manual
4
1.3 Installation Guide
Before you install your PCI-1784U card, please make sure you have the
following necessary components:
PCI-1784U DA&C card
PCI-1784U User’s Manual
Driver software
Advantech DLL drivers (In the CD-ROM)
Wiring cable
PCL-10137H (option)
Wiring board
ADAM-3937 (option)
Computer
PC with PCI-bus slot (Windows 2000/XP)
Other optional components are also available for enhanced operation:
Application software ActiveDAQPro, GeniDAQ or 3rd party software
After you get the necessary components and maybe some of the accessories for enhanced operation of your Multifunction card, you can then
begin the Installation procedures. Figure 1-1 on the next page provides a
concise flow chart to give users a broad picture of the software and hardware installation procedures:
5
Chapter 1
Install Driver from CD-ROM, then power-off PC
Install Hardware and power-on PC
Use driver utility to configure hardware
Use test utility to test hardware
Read examples & driver manual
Start to write your own application
Figure 1.1: Installation Flow Chart
PCI-1784U User Manual
6
1.4 Software Overview
Advantech offers a rich set of DLL drivers, third-party driver support and
application software to help fully exploit the functions of your PCI1784U card:
• Device Drivers (on the companion CD-ROM)
• LabVIEW driver
• LabVIEWDAQ driver
• Advantech ActiveDAQPro
• Advantech GeniDAQ
Programming choices for DA&C cards: You may use Advantech application software such as Advantech Device Drivers. On the other hand,
advanced users are allowed another option for register-level programming, although not recommended due to its laborious and time-consuming nature.
Device Drivers
The Advantech Device Drivers software is included on the companion
CD-ROM at no extra charge. It also comes with all the Advantech DA&C
cards. Advantech’s device drivers feature a complete I/O function library
to help boost your application performance. The Advantech Device Drivers for Windows 2000/XP works seamlessly with development tools such
as Visual C++, Visual Basic, Inprise C++ Builder and Inprise Delphi.
Register-level Programming
Register-level programming is reserved for experienced programmers
who find it necessary to write codes directly at the level of device registers. Since register-level programming requires much effort and time, we
recommend that you use the Advantech Device Drivers instead. However, if register-level programming is indispensable, you should refer to
the relevant information in Appendix C, Register Structure and Format,
or to the example codes included on the companion CD-ROM.
7
Chapter 1
1.5 Device Driver Programming
This section will provide you a roadmap to demonstrate how to build an
application from scratch using Advantech Device Drivers with your
favorite development tools such as Visual C++, Visual Basic, Delphi and
C++ Builder. The step-by-step instructions on how to build your own
applications using each development tool will be given in the Device
Drivers Manual. Moreover, a rich set of example source codes is also
given for your reference.
Programming Tools
Programmers can develop application programs with their favorite development tools:
• Visual C++
• Visual Basic
• Delphi
• C++ Builder
For instructions on how to begin programming works in each development tool, Advantech offers a Tutorial Chapter in the Device Drivers
Manual for your reference. Please refer to the corresponding sections in
this chapter on the Device Drivers Manual to begin your programming
efforts. You can also look at the example source codes provided for each
programming tool, since they can get you very well oriented.
The Device Drivers Manual can be found on the companion CD-ROM.
Alternatively, if you have already installed the Device Drivers on your
system, The Device Drivers Manual can be readily accessed through the
Start button:
Start/Programs/Advantech Automation/Device Driver’s Manual
The example source codes could be found under the corresponding installation folder such as the default installation path:
\Program Files\Advantech\ADSAPI\Examples
PCI-1784U User Manual
8
For information about using other function groups or other development
tools, please refer to the Creating Windows 2000/XP Application with
Device Drivers chapter and the Function Overview chapter on the Device
Drivers Manual.
Programming with Device Drivers Function Library
Advantech Device Drivers offers a rich function library to be utilized in
various application programs. This function library consists of numerous
APIs that support many development tools, such as Visual C++, Visual
Basic, Delphi and C++ Builder.
According to their specific functions or services, those APIs can be categorized into several function groups:
• Digital Input/Output Function Group
• Counter Function Group
• Port Function Group (direct I/O)
• Event Function Group
For the usage and parameters of each function, please refer to the Function Overview chapter in the Device Drivers Manual.
Troubleshooting Device Drivers Error
Driver functions will return a status code when they are called to perform
a certain task for the application. When a function returns a code that is
not zero, it means the function has failed to perform its designated function. To troubleshoot the Device Drivers error, you can pass the error
code to DRV_GetErrorMessage function to return the error message, or
you can refer to the Device Drivers Error Codes Appendix in the Device
Drivers Manual for a detailed listing of the Error Code, Error ID and the
Error Message.
9
Chapter 1
1.6 Accessories
Advantech offers a complete set of accessory products to support the PCI1784U card. These accessories include:
Wiring Cable
PCL-10137H The PCL-10137H shielded cable is specially designed for
PCI-1784U cards to provide high resistance to noise. To achieve a better
signal quality, the signal wires are twisted in such a way as to form a
“twisted-pair cable,” reducing cross talk and noise from other signal
sources. Furthermore, its analog and digital lines are separately sheathed
and shielded to neutralize EMI/EMC problems.
Wiring Boards
ADAM-3937 The ADAM-3937 is a 37-pin D-type wiring terminal module for DIN-rail mounting. This terminal module can be readily connected to the Advantech PC-Lab cards and allow easy yet reliable access
to individual pin connections for the PCI-1784U card.
PCI-1784U User Manual
10
CHAPTER
2
2
Installation
Sections include:
• Unpacking
• Driver Installation
• Hardware Installation
Chapter 2 Installation
This chapter gives users an item checklist, proper instructions on unpacking, and step-by-step procedures for driver and card installation.
2.1 Unpacking
After receiving your PCI-1784U package, please inspect its contents first.
The package should contain the following items:
• PCI-1784U card
• Companion CD-ROM (DLL driver included)
• User’s Manual
The PCI-1784U card harbors certain electronic components vulnerable to
electrostatic discharge (ESD). ESD could easily damage the integrated
circuits and certain components if preventive measures are not carefully
paid attention to.
Before removing the card from the antistatic plastic bag, you should take
following precautions to ward off possible ESD damage:
• Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body. One can also use a
grounding strap as well.
• Touch the anti-static bag to a metal part of your computer chassis
before opening the bag.
• Take hold of the card only by the metal bracket when removing it out of
the bag.
After taking out the card, first you should:
• Inspect the card for any possible signs of external damage (loose or
damaged components, etc.). If the card is visibly damaged, please
notify our service department or our local sales representative immediately. Avoid installing a damaged card into your system.
Also, pay extra caution to the following aspects to ensure proper installation:
PCI-1784U User Manual
12
a Avoid physical contact with materials that could hold static electricity
such as plastic, vinyl and Styrofoam.
a Whenever you handle the card, grasp it only by its edges. DO NOT
TOUCH the exposed metal pins of the connector or the electronic components.
Note:
Keep the anti-static bag for future use. You might
need the original bag to store the card if you have to
remove the card from PC or transport it elsewhere.
2.2 Driver Installation
We recommend you to install the driver before you install the PCI-1784U
card into your system, since this will guarantee a smooth installation process.
The Advantech Device Drivers Setup program for the PCI-1784U card is
included on the companion CD-ROM that is shipped with your DA&C
card package. Please follow the steps below to install the driver software:
Step 1: Insert the companion CD-ROM into your CD-ROM drive.
Step 2: The Setup program will be launched automatically if you have the
autoplay function enabled on your system. When the Setup Program is
launched, you’ll see the following Setup Screen.
Note:
If the autoplay function is not enabled on your
computer, use Windows Explorer or Windows
Run command to execute autorun.exe on the
companion CD-ROM.
13
Chapter 2
Step 3: Please click ‘CONTINUE’ to proceed to the next step.
Step 4: Please select ‘Installation’ to proceed to the next step. A list of
items will be shown on the screen: ‘Device Manager’, ’Individual
Driver’, ‘Example & Utility’, and ‘Advance Options’.
PCI-1784U User Manual
14
Step 5: Please install the ‘Device Manager’ first. For details on how to
install the ‘Device Manager’ step by step, please see the software manual.
Step 6: When you’re finished installing the ‘Device manager’, you can
install the driver of the corresponding card. Please click the ‘Individual
Drivers’
15
Chapter 2
Step 7: Select ‘PCI Series’.
Step 8: Select ‘PCI-1784’ to install its driver. For more information
about the software installation, please read the software manual.
PCI-1784U User Manual
16
2.3 Hardware Installation
Note:
Make sure you have installed the driver before you
install the card (refer to 2.2 Driver Installation)
After the DLL driver installation is completed, you can now go on to
install the PCI-1784U card in any PCI slot on your computer. However, it
is suggested that you should refer to the computer user manual or related
documentation if you have any doubt. Please follow the steps below to
install the card on your system.
Step 1: Turn off your computer and unplug the power cord and cables.
TURN OFF your computer before installing or removing any components on the computer.
Step 2: Remove the cover of your computer.
Step 3: Remove the slot cover on the back panel of your computer.
Step 4: Touch the metal part on the surface of your computer to neutralize
the static electricity that might be on your body.
Step 5: Insert the PCI-1784U card into a PCI slot. Hold the card by its
edges and carefully align with the slot. Insert the card firmly into place.
Use of excessive force must be avoided; the card might be damaged.
Step 6: Fasten the bracket of the PCI card on the back panel rail of the
computer with screws.
Step 7: Connect appropriate accessories (37-pin cable, wiring terminals,
etc. if necessary) to the PCI card.
Step 8: Replace the cover of your computer chassis. Re-connect the
cables you removed in step 2.
Step 9: Plug in the power cord and turn on the computer.
Note:
In case you installed the card without installing the
DLL driver first, Windows 2000/XP will recognize
your card as an “unknown device” after rebooting,
and will prompt you to provide the driver. You
should ignore the prompting messages (just click
the Cancel button) and set up the driver according
to the steps described in 2.2 Driver Installation.
17
Chapter 2
After the PCI-1784U card is installed, you can verify whether it is properly installed on your system in the Device Manager:
The device name of the PCI-1784 should be listed on the Device Manager
tab on the System Property Page.
Figure 2.1: Device Name on the Device Manager
Note:
If your card is properly installed, you should see the
device name of your card listed on the Device Manager tab. If it is marked with an exclamation sign “!”,
your card has not been correctly installed. Select its
device name and press the Remove button. Then
go through the driver installation process again.
After your card is properly installed on your system, you can now configure your device using the Device Manager program that has already been
installed on your system during driver setup. A complete device installation procedure should include device setup, configuration and testing.
After that, you can operate this card through the operation. The following
sections will guide you through the setup, configuration and testing of
your device.
PCI-1784U User Manual
18
2.4 Device Setup & Configuration
The Device Manager program is a utility that allows you to set up, configure and test your device, and later stores your settings on the system
registry. These settings will be used when you call the APIs of Advantech
Device Drivers.
Set up the Device (Windows 2000/XP only)
Step 1: Run the Device Installation program by accessing:
Start/ Programs/ Advantech Automation/ Device Manager/ Advantech Device Manager.
Step 2: The Advantech Device Manager will search for the device(s)
already installed on your system (if any) automatically.
Step 3: The Installed Devices box will list the device(s) found on our system, such as the one in Figure 2.2.
Figure 2.2: Device Manager Dialog Box
19
Chapter 2
Device Configuration
PCI-1784/U device driver provides a device setting dialog box for user to
set the driver default device property value and these values will be saved
in the system. The device property will be referenced by the device driver
functions.
Item 1: Select counter .
Item 2: Set counter input mode, overflow lock, underflow lock, digital
filter, reset value and latch source.
Item 3: Set counter interrupt source.
Item 4: Set counter compare type.
Item 5: Set counter DO level width.
Item 6: Set counter interrupt source independent of counter channel.
Item 7: Set timer counter (count 4) timer divider and timer base clock.
Item 8: Set DO mode.
Item 9: Set digital filter clock.
Item 10: Default setting restore counter setting to default, Current Setting
return the device current hardware settings.
PCI-1784U User Manual
20
CHAPTER
3
2
Signal Connections
Sections include:
• Overview
• Switch & Jumper Settings
• Signal Connections
Chapter 3 Signal Connections
3.1 Overview
Maintaining signal connections is one of the most important factors in
ensuring that your application system is sending and receiving data correctly. A good signal connection can avoid unnecessary and costly damage to your PC and other hardware devices. This chapter provides useful
information about how to connect input and output signals to the PCI1784U via the I/O connector.
3.2 Switch & Jumper Settings
The PCI-1784U card has one function switch and five jumper settings.
Figure 3.1: Card Connectors, Jumpers & Switches
Table 3.1: Summary of Jumper Settings
Name of Jumpers
Function Description
JP2
Keep last status after hot reset
Default configuration
PCI-1784U User Manual
22
Resetting the Digital Outputs and Counter Value
Some users will want the capability of clearing each counter and the isolated digital output when the system (or PC) issues a reset signal on the
PCI bus. Some users will want to clear their counter and digital output
only as part of system power-on.
The PCI-1784U satisfies both these needs by providing jumper JP2.
Depending on the application, this capability may allow the counter value
and the isolated digital outputs to be "OFF" without requiring a complete
shutdown of processes controlled by the card.
Complete loss of power to the chip clears the chip memory. Thus, no matter how JP2 is set, if the power to the PCI-1784U is disconnected, the
counter value and the isolated digital output initial power-on state will be
"OFF".
Board ID setting (SW1)
ID3
ID2
ID1
ID0
Board ID
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Note: On: 1, Off: 0
23
Chapter 3
3.3 Signal Connections
Pin Assignment
Figure 3.2 shows the pin assignments for the 37-pin I/O connector.
EGND
1
20
CH0A-
CH0A+
2
21
CH0B-
CH0B+
3
22
CH0Z-
CH0Z+
4
23
CH1A-
CH1A+
5
24
CH1B-
CH1B+
6
25
CH1Z-
CH1Z+
7
26
CH2A-
CH2A+
8
27
CH2B-
CH2B+
9
28
CH2Z-
CH2Z+
10
29
CH3A-
CH3A+
11
30
CH3B-
CH3B+
12
31
CH3Z-
CH3Z+
13
32
EGND
IDI COM
14
33
IDI1
IDI0
15
34
IDI3
IDI2
16
35
EGND
EGND
17
36
IDO1
IDO0
18
37
IDO3
IDO2
19
.
Figure 3.2: I/O Connector Pin Assignments
PCI-1784U User Manual
24
I/O Connector Signal Description
Table 3.2: I/O Connector Signal Descriptions
Signal Name
EGND
CH<0..3>A+
CH<0..3>ACH<0..3>B+
CH<0..3>BCH<0..3>Z+
CH<0..3>ZIDI<0..3>
IDI COM
IDO<0..3>
EGND
Reference
EGND
EGND
EGND
EGND
EGND
EGND
IDI COM
EGND
-
Direction
Input
Input
Input
Input
Input
Input
Input
Output
-
Description
External Ground.
Channel <0..3> A differential positive-input.
Channel <0..3> A differential negative-input.
Channel <0..3> B differential positive-input.
Channel <0..3> B differential negative-input.
Channel <0..3> Z differential positive-input.
Channel <0..3> Z differential negative-input.
Isolated Digital Input, Channels 0 through 3.
Common input of the Isolated Digital Input.
Isolated Digital Output, Channels 0 through 3.
External Ground.
Quadrature Encoder Input
S in g le e n d e d
o u tp u t s o f
Encoder
C H nA +
C H nB +
C H nZ+
A
B
I
P C I-1 7 8 4
c o n n e c to r
GND
EG ND
Open Collector
EV cc
EV cc
10K
10K
CHnA +
CHnA 10K
EG N D
EG N D
25
Chapter 3
TTL
EV cc
EVcc
10K
10K
CH nA +
CH nA 10K
EG N D
EG N D
D iffe r e n tia l
o u tp u ts o f
E ncoder or
L in e d r iv e r
CH nA +
C H nA C H nB +
C H nB C H nZ+
C H nZP C I-1 7 8 4
c o n n e c to r
EGND
A+
AB+
BI+
I-
GND
PCI-1784U User Manual
26
C H nA +
C H nB+
PU LSE
D IR
P u ls e /D ir e c tio n
C o u n te r
P C I-1 7 8 4
c o n n e c to r
GND
EG ND
C H nA +
C H nB +
UP
DN
U p /D o w n
C o u n te r
P C I-1 7 8 4
c o n n e c to r
GND
EGND
C H nA +
C H nB +
UP
DN
T w o _ P u ls e
U p C o u n te r
P C I-1 7 8 4
c o n n e c to r
GND
EGND
C H nA +
C H nB +
UP
DN
T w o _ P u ls e
D o w n C o u n te r
P C I-1 7 8 4
c o n n e c to r
GND
EGND
Figure 3.3: Quadrature Encoder (up/down) Input
Note:
In case you want to connect the Up/Down
counter signal into the PCI-1784U, be sure that
all the signals are connected. The floating connection will cause unexpected result.
27
Chapter 3
Isolated Digital Input
External
Internal
VCC
IDI0~IDI3
DC
(5-30V)
GND
IDI COM
Figure 3.4: Isolated Digital Input Connections
Isolated Digital Output
Internal
External
IDO0~IDO3
TTL
level
TTL
level
Isolated
Protection
Circuit
GND
Figure 3.5: Isolated Digital Output Connections
PCI-1784U User Manual
28
APPENDIX
A
2
Specifications
Appendix A Specifications
Encoder Input
Axes
4 (independent)
Resolution
32-bit
Max. Quadrature
Input Frequency
w/ Digital Filter
w/o Digital Filter
Digital Filter
4 stage
Drive Type
Single-ended or differential
Counter Modes
Quadrature,Up/Down, Count/Direction
Optical Isolation
2500 VDC
Max. Input Pulse
Frequency
x 1, x 2, x 4
Sample Clock
Frequency
8, 4, 2, or 1 MHz
Input Voltage
(Single Ended)
VIH (Max.)
VIH(Min.)
VIL (Max.)
VIH
VIL
Max. Input Voltage
Input Voltage
(Differential
Ended)
1.0 MHz
2.0 MHz
12V
2.8V
0.8
“CH+”- “CH-“ > 0.2V
“CH+” – “CH-“ < -0.2V
±12V
Timer
Resolution
8-bit
Time base
50 K, 5 K, 500, 50, 5 Hz
PCI-1784U User Manual
30
Isolated Digital Input
Channels
4
Optical Isolation
2500 VDC
Opto-isolator response time
100µs
Over-voltage Protect
70 VDC
Input Voltage
VIH (max.)
30 VDC
VIH (min.)
10 VDC
VIL (max.)
3 VDC
10 VDC
1.7 mA (typical)
12 VDC
2.1 mA (typical)
24 VDC
4.4 mA (typical)
Input Current
Isolated Digital Output
Number of Channel
4
Optical Isolation
2500 VDC
Response time
2µs
Supply Voltage
TTL level
Sink/Source Current
50 mA max./channel
Interrupt
Source
Counter overflow, Counter underflow,
Index input, Compare, Timer, Digital input
Counter Latch
Source
Software, Timer, Index input, Digital input
31
Appendix A
General
I/O Connector Type
37-pin D-sub female
Dimensions
175 mm x 100 mm (6.9" x 3.9")
Power Consumption
Typical
+5 V @ 200 mA
Max.
+5 V @ 450 mA
Operation
0~60°C (32~140°F)
(refer to IEC 68-2-1,2)
Storage
-20 ~ 70°C (-4 ~158°F)
Temperature
Relative Humidity
5 ~ 95% RH non-condensing
(refer to IEC 68-2-3)
Certification
CE certified
PCI-1784U User Manual
32
APPENDIX
B
2
Block Diagram
Appendix B Block Diagram
COUNTER
MODE
CONTROL
ADDRESS, CONTROL AND DATA BUS
32-BIT MULTI-MODE
UP/DOWN COUNTER
32-BIT MULTI-MODE
UP/DOWN COUNTER
32-BIT MULTI-MODE
UP/DOWN COUNTER
CH.1 PHASE A
CH.1 PHASE B
CH.1 INDEX
CH.2 PHASE A
CH.2 PHASE B
CH.2 INDEX
CH.3 PHASE A
CH.3 PHASE B
CH.3 INDEX
DO/I CH.0
DO/I CH.1
DO/I CH.2
DO/I CH.3
INTERRUPT CONTROLLER
PCI INTERFACE
PCI BUS
34
CO NTROL UNIT
PROGRAMMABLE
TIME-BASE
GENERATOR
PCI-1784U User Manual
CH.0 PHASE A
CH.0 PHASE B
CH.0 INDEX
DIGITAL
FILTER
DIFF/SE ISO LATION INPUT CIRCUIT
32-BIT
UP/DOWN
COUNTER
C
APPENDIX
2
Register Structure &
Format
Appendix C Register Structure & Format
C.1 Overview
The PCI-1784U is delivered with an easy-to-use 32-bit DLL driver for
user programming under the Windows 2000/XP operating systems. We
advise users to program the PCI-1784U using the 32-bit DLL driver provided by Advantech to avoid the complexity of low-level programming
by register.
The most important consideration in programming the PCI-1784U register levels is to understand the function of the card's registers. The information in the following sections is provided only for users who would
like to do their own low-level programming.
C.2 I/O Port Address Map
The PCI-1784U requires 32 consecutive addresses in the PC's I/O space.
The address of each register is specified as an offset from the card's base
address. For example, BASE+0 is the card's base address and BASE+6 is
the base address plus six bytes.
Table C-1 shows the function of each register of the PCI-1784U or driver
and its address relative to the card's base address.
PCI-1784U User Manual
36
Table C.1: Register Format (Part 1)
Base
PCI-1784U Register Format
Address
+ HEX 15 14 13 12 11 10 9
31
00H W
30
29 28
27 26
25 2 23
4
6
5
4
22
21 20
3
2
1
0
19
18
17 16
Counter 0 Mode
DI3 DI2 DI1 DI0
R
8 7
TM IX
SW DF
UL OL RF
M2 M1 M0
Counter 0 Latch Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
04H W
Counter 1 Mode
DI3 DI2 DI1 DI0
R
TM IX
SW DF
UL OL RF
M2 M1 M0
Counter 1 Latch Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
08H W
Counter 2 Mode
DI3 DI2 DI1 DI0
R
TM IX
SW DF
UL OL RF
M2 M1 M0
Counter 2 Latch Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
0CH W
Counter 3 Mode
DI3 DI2 DI1 DI0
R
TM IX
SW DF
UL OL RF
M2 M1 M0
Counter 3 Latch Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
37
Appendix C
Table C.2: Register Format (Part 2)
Base
PCI-1784U Register Format
Address
+ HEX 15 14 13 12 11 10 9
31
10H W
30
29
28
27
26
25
8 7
6
5
4
3
2
1
0
24 23
22
21
20
19
18
17
16
Counter 0 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 0 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
14H W
Counter 1 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 1 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
18H W
Counter 2 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 2 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
1CH W
Counter 3 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 3 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
PCI-1784U User Manual
38
Table C.3: Register Format (Part 3)
Base
PCI-1784U Register Format
Address
+ HEX 15 14 13 12 11 10 9
31
30
29
28
8 7
6
27 26 25 24 23 22
5
4
3
2
1
0
21
20
19
18
17
16
20H W Interrupt Control
DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0 UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0
IE
R
TM
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
Interrupt Status
DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0 UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0
IF
TM
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
24H W Clock Control
SC1 SC0
TB2 TB1 TB0 DV7 DV6 DV5 DV4 DV3 DV2 DV1 DV0
R
Clear Interrupt
28H W Software Latch
SL3 SL2 SL1 SL0
R
Board ID
BD3 BD2 BD1 BD0
2CH W Reset Counter
SR3 SR2 SR1 SR0
R
N/A
30H W Digital Output
DO3 DO2 DO1 DO0
DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0 UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
R
Digital Input/Output
DI3
DI2 DI1 DI0 DO3 DO2 DO1 DO0
DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0 UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
39
Appendix C
C.3 Counter 0/1/2/3 Mode - BASE+00/04/08/0CH
Table C.4: Register for Counter 0/1/2/3 Mode
Base
15 14 13 12 11 10 9 8 7
Address
31 30 29 28 27 26 25 24 23
00H W
2
1
0
TM IX
SW
DF
UL OL RF
M2 M1 M0
TM IX
SW
DF
UL OL RF
M2 M1 M0
TM IX
SW
DF
UL OL RF
M2 M1 M0
TM IX
SW
DF
UL OL RF
M2 M1 M0
Counter 3 Mode
DI3 DI2 DI1 DI0
M2 ~ M0
Counter input mode control
000
Disable
001
Quadrature input x 1
010
Quadrature input x 2
011
Quadrature input x 4
100
2 pulse input
101
1 pulse input
110
N/A
111
N/A
RF
Set counter reset value
0
80000000h
1
00000000h
OL
0
3
Counter 2 Mode
DI3 DI2 DI1 DI0
0CH W
4
Counter 1 Mode
DI3 DI2 DI1 DI0
08H W
5
21 20 19 18 17 16
Counter 0 Mode
DI3 DI2 DI1 DI0
04H W
6
22
Counter overflow lock control
Counter continues counting (wraps over) when counter overflow
Counter locked when counter overflow
PCI-1784U User Manual
40
UL
Counter underflow lock control
0
Counter continues counting (wraps over) when counter underflow
1
Counter locked when counter underflow
DF
Digital Filter
0
Quadrature input frequency without digital filter
1
Quadrature input frequency with digital filter
SW
Software latch counter data
0
Disable software latch
1
Enable software latch
IX
Index latch counter data
0
Disable index latch
1
Enable index latch
TM
Timer latch counter data
0
Disable timer latch
1
Enable timer latch
DI0
DI0 latch counter data
0
Disable DI0 latch
1
Enable DI0 latch
DI1
DI1 latch counter data
0
Disable DI1 latch
1
Enable DI1 latch
DI2
DI2 latch counter data
0
Disable DI2 latch
1
Enable DI2 latch
DI3
DI3 latch counter data
0
Disable DI3 latch
1
Enable DI3 latch
41
Appendix C
C.4 Counter 0/1/2/3 Latch - BASE+00/04/08/0CH
Table C.5: Register for Counter 0/1/2/3 Latch Data
Base
15
Address
31
00H R
14
13
12
11
10
9
8 7
6
5
4
3
2
30
29
28
27
26
25
24 23
22
21
20
19
18 17
1
16
0
D7 D6 D5 D4 D3
D2 D1
D0
Counter 0 Latch Data
D15 D14 D13 D12 D11 D10 D9
D8
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
04H R
Counter 1 Latch Data
D15 D14 D13 D12 D11 D10 D9
D8
D7 D6 D5 D4 D3
D2 D1
D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
08H R
Counter 2 Latch Data
D15 D14 D13 D12 D11 D10 D9
D8
D7 D6 D5 D4 D3
D2 D1
D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
0CH R
Counter 3 Latch Data
D15 D14 D13 D12 D11 D10 D9
D8
D7 D6 D5 D4 D3
D2 D1
D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
D31 ~ D0
Counter latch data
PCI-1784U User Manual
42
C.5 Counter 0/1/2/3 Compare - BASE+10/14/18/1CH
Table C.6: Register for Counter 0/1/2/3 Compare Data
Base
15
Address
31
10H W
14
13
12
11
10
9
8 7
6
5
4
3
2
1
30
29
28
27
26
25
24 23
22
21
20
19
18
17 16
0
Counter 0 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 0 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
14H W
Counter 1 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 1 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
18H W
Counter 2 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 2 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
1CH W
Counter 3 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
R
Counter 3 Compare Data
D15 D14 D13 D12 D11 D10 D9 D8
D7
D6 D5 D4 D3 D2 D1 D0
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
D31 ~ D0
Counter compare data
43
Appendix C
C.6 Interrupt Control Register - BASE+20H
Table C.7: Register for Interrupt Control
Base
15 14 13 12
Address
31 30 29 28
11 10 9
8
7
27 26 25 24 23
6
5
4
3
2
1
0
22
21
20
19
18
17
16
20H W Interrupt control
DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0 UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0
IE
TM
OVn
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
Interrupt by overflow bit (n: 0 ~ 3)
0
Disable
1
Enable
UNn
Interrupt by underflow bit (n: 0 ~ 3)
0
Disable
1
Enable
IXn
Interrupt by index status bit (n: 0 ~ 3)
0
Disable
1
Enable
DIn
Interrupt by digital input bit (n: 0 ~ 3)
0
Disable
1
Enable
OCn
Interrupt by counter over compare bit (n: 0 ~ 3)
0
Disable
1
Enable
UCn
Interrupt by counter under compare bit (n: 0 ~ 3)
0
Disable
1
Enable
TM
Interrupt by timer pulse bit
0
Disable
1
Enable
IE
Overall interrupt enable bit
0
Disable
1
Enable
PCI-1784U User Manual
44
C.7 Interrupt Status Register - BASE+20H
Table C.8: Register for Interrupt Status
Base
15 14 13 12 11 10 9 8 7
Address
31 30 29 28 27 26 25 24 23
20H R
6
5
4
3
2
1
0
22
21
20
19
18
17
16
Interrupt status
DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0
UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0
IF
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
TM
OVn
Counter overflow interrupt flag (n: 0 ~ 3)
0
Disable
1
Enable
UNn
Counter underflow interrupt flag (n: 0 ~ 3)
0
Disable
1
Enable
IXn
Index input interrupt flag (n: 0 ~ 3)
0
Disable
1
Enable
DIn
Digital input interrupt flag (n: 0 ~ 3)
0
Disable
1
Enable
OCn
Counter over compare interrupt by flag (n: 0 ~ 3)
0
Disable
1
Enable
UCn
Counter under compare interrupt flag (n: 0 ~ 3)
0
Disable
1
Enable
TM
Timer pulse interrupt flag
0
Disable
1
Enable
IF
Overall interrupt enable flag
0
Disable
1
Enable
45
Appendix C
C.8 Clear Interrupt - BASE+24H
Table C.9: Register for Clock Control
Base
15 14 13 12 11 10
Address
31 30 29 28 27 26
9
8 7
6
5
4
3
2
1
0
25
24 23
22
21
20
19
18
17
16
24H W Clock Control
SC1 SC0
TB2 TB1 TB0
SC1 ~ SC0 Sampling clock select
00
8 MHz sampling clock
01
4 MHz sampling clock
10
2 MHz sampling clock
11
1 MHz sampling clock
DV7 ~ DV0 Timer divider control
TB2 ~ TB0 Timer time base select
000
50 KHz time base
001
5 KHz time base
010
500 Hz time base
011
50 Hz time base
100
5 Hz time base
101
N/A
110
N/A
111
N/A
PCI-1784U User Manual
46
DV7 DV6 DV5 DV4 DV3 DV2 DV1 DV0
C.9 Clear Interrupt - BASE+24H
Read this register to clear the interrupt.
Table C.10: Register for Clear Interrupt
Base
Address
15 14 13 12 11 10 9
24H R
Clear Interrupt
8
7
31 30 29 28 27 26 25 24 23
6
5
22
21 20 19 18 17 16
4
3
2
1
0
C.10 Software Latch - BASE+28H
Table C.11: Register for Software Latch
Base
Address
15 14 13 12 11 10 9
28H W
Software Latch
8
7
31 30 29 28 27 26 25 24 23
6
5
4
3
22
21 20 19
2
1
0
18
17
16
SL3 SL2 SL1 SL0
SLn
Software latch command (n: 0 ~ 3)
0
N/A
1
Latch counter to latch register
47
Appendix C
C.11 Board ID — BASE+28H
The PCI-1784U offers Board ID register BASE+28H. With correct Board
ID settings, user can easily identify and access each card during hardware
configuration and software programming.
Table C.12: Board ID Data
Base
15 14 13 12 11 10 9 8 7
Address
31 30 29 28 27 26 25 24 23
28H R
6
5
22
21 20 19
4
3
2
1
0
18
17
16
Board ID
0
0
0
0
0
0
0
0
0 0
0
0
BD3 BD2 BD1 BD0
0
0
0
0
0
0
0
0
0 0
0
0
0
BD3 ~ DB0 Board ID
BD0 LSB of the Board ID
BD3 MSB of the Board ID
BD3
BD2
BD1
BD0
Board ID
1
1
1
1
15
1
1
1
0
14
1
1
0
1
13
1
1
0
0
12
1
0
1
1
11
1
0
1
0
10
1
0
0
1
9
1
0
0
0
8
0
1
1
1
7
0
1
1
0
6
0
1
0
1
5
0
1
0
0
4
0
0
1
1
3
0
0
1
0
2
0
0
0
1
1
0
0
0
0
0
PCI-1784U User Manual
48
0
0
0
C.12 Reset Counter - BASE+2CH
Table C.13: Register for Reset Counter
Base
Address
15 14 13 12 11 10 9
2CH W
Reset Counter
8
7
31 30 29 28 27 26 25 24 23
6
5
22
21 20 19
4
3
2
1
0
18
17
16
SR3 SR2 SR1 SR0
SRn
Reset counter command (n: 0 ~ 3)
0
N/A
1
Reset counter to default value
C.13 Digital Output - BASE+30H
Table C.14: Register for Digital Output
Base
15
Address
31
30H W
14
13
12
11
10
9
8 7
6
5
4
3
2
1
0
30
29
28
27
26
25
24 23
22
21
20
19
18
17
16
Digital Output
DO3 DO2 DO1 DO0
DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
DO3 ~ DO0 Digital output data
OCn
Digital output by over compare register (n: 0 ~ 3)
UCn
~ 3)
Digital output by under compare register (n: 0
LEn
Digital output level control (n: 0 ~ 3)
0
Pulse with counter clock
1
Level with clear interrupt
DMn
Digital output mode control (n: 0 ~ 3)
0
Normal
1
Indicated
49
Appendix C
C.14 Digital Input/Output - BASE+30H
Table C.15: Register for Digital Input/Output
Base
Address
15
14
13
12
11
10
9
8 7
6
5
4
3
2
1
0
31
30
29
28
27
26
25
24 23
22
21
20
19
18
17
16
30H R
Digital Input/Output
DI3 DI2 DI1 DI0 DO3 DO2 DO1 DO0
DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0
UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0
DO3 ~ DO0 Digital output data
DI3 ~ DI0
Digital input data
OCn
Digital output by over compare register (n: 0 ~ 3)
UCn
~ 3)
Digital output by under compare register (n: 0
LEn
Digital output level control (n: 0 ~ 3)
0
Pulse with counter clock
1
Level with clear interrupt
DMn
Digital output mode control (n: 0 ~ 3)
0
Normal
1
Indicated
PCI-1784U User Manual
50
APPENDIX
D
2
Operation
Appendix D Operation
D.1 Quadrature Encoder Introduction
In typical closed-loop control systems, also know as servo systems, the
encoder interface senses motor position and sends a position signal to the
controller. The diagram below shows a typical servo system.
The encoder generates pulses that indicate the shaft position. The encoder
output includes two signals, commonly called channel A and channel B,
which generate N pulses revolution. The two signals are shifted by a
quarter of a cycle, as shown below. The shift between the two signals
enables the controller to determine the direction of rotation, depending on
whether channel A leads channel B or vice versa.
MICROCOMPUTER
BUS
QUADRATURE
SIGNAL
PHASE A
PHASE B
HOST
CPU
INDEX
PCI-1784
ENCODER
CARD
QUADRATURE
SIGNAL
QUADRATURE
ENCODER
(MOTOR)
Single-ended vs. differential input
Most encoders produce square wave signals with TTL levels. Industrial
systems often use encoders with differential signals, i.e. channel A and B
and their complements. Differential signals can reduce sensitivity to noise
and allow longer transmission distances. Encoders may also produce a
third signal once per revolution know as the index or marker. The encoder
interface can use the index signal to reset the counter, allowing you to
monitor the position within the current revolution.
PCI-1784U User Manual
52
D.2 Counter Modes
The following table shows the maximum input rate for each input mode
and system clock rate. Values are given for each system clock frequency.
Counter modes are as follows:
Quadrature Input Counter Mode
Quadrature input consists of two square wave inputs (A and B), which are
90° out of phase. The PCI-1784U counts square wave transitions and
determines the direction by comparing whether channel A is leading
channel B or vice versa.
There are three different counting methods in quadrature input mode:
x1 The counter will increment (or decrement) the counter whenever a
rising edge occurs on input channel A.
x2 The counter will increment (or decrement) whenever a rising or falling edge occurs on input channel A.
x4 The counter will increment (or decrement) whenever a rising or falling edge occurs on input channel A or B.
2-pulse Mode
In 2-pulse mode the PCI-1784U uses two input pulses as counting
sources: one for clockwise (CW) and one for counterclockwise (CCW)
counting. The counter will increment whenever a rising edge occurs on
channel A. It will decrement whenever a rising edge occurs on channel B.
53
Appendix D
Pulse/Direction Mode
In pulse/direction mode the PCI-1784U uses one input line (A) for pulse
input and one line (B) for direction. If channel B is high (1), the counter
will decrement whenever a rising edge occurs in channel A. If channel B
is low (0), the counter will increment whenever a rising edge occurs on
channel A.
Disabled Mode
PCI-1784U will not accept input, but you can access all its registers.
You select the mode by programming the card's registers: BASE+00H for
CH0, BASE+04H for CH1, BASE+08H for CH2 and BASE+0CH for
CH3. See Appendix C for more information.
D.3 Digital Noise Filter
Noise immunity is the most important requirement for reliable encoder
interface operation. The PCI-1784U conditions the input signal with a
four stage digital filter. This filter reduces glitches (digital noise) or
spikes by sampling the input at 1, 2, 4 or 8 MHz. The filter output waveforms change only when an input has the same value for four consecutive
sampling edges. The filter thus rejects noise or pulses shorter than four
sampling clock periods. You can optimize noise immunity by selecting
the lowest sampling frequency that compatible with the highest input rate
you expect.
The PCI-1784U accepts up to a 2 MHz quadrature frequency at 8 MHz
filter sampling speed. At 2 MHz sampling speed it can still accept up to
500 KHz quadrature input frequency.
A 3600 rpm motor with 2000 ppr encoder will have a maximum
quadrature frequency of 3600×2000 ÷ 60 =120 KHz. In the above
example the 2 MHz sampling clock will have noise immunity and will
meet the required input frequency.
PCI-1784U User Manual
54
The following table shows the maximum noise pulse width that the filter
will reject for each system clock frequency:
Clock frequency Maximum width
8 MHz
0.5 usec.
4 MHz
1 usec.
2 MHz
2 usec.
1 MHz
4 usec.
D.4 Latch Mode
When you read a counter, you are actually reading a value latched into a
buffer. The PCI-1784U provides seven different latching modes, only one
of which is active at any given time. Make sure that you know which
latching mode is current whenever you read the counter. Otherwise, you
may read an old value or one that was latched at a different time than you
expect. You select the latching mode for each channel individually.
The PCI-1784U's latching modes are as follows:
S/W Latch
Whenever you read a channel's data registers, the counter values will be
latched in the buffer. Please refer to page 41 (BASE+28H) for detail
information.
Index Latch
A rising edge on the channel's index input line will latch the channel's
counter value.
DI/0 Latch
A rising edge on the board's DI0 line will latch the counter value for the
channel.
55
Appendix D
DI1 Latch
A rising edge on the DI1 line will latch the counter value for the channel.
DI2 Latch
A rising edge on the board's DI2 line will latch the counter value for the
channel.
DI3 Latch
A rising edge on the DI3 line will latch the counter value for the channel.
Timer Latch
The card latches the counter value on a rising edge of pulses from the
card's on-board timer.
D.5 Counter Reset Value
Bit 4 (RF) of registers BASE+00H, 04H, 08H and 0CH control the initial
(reset) value of for each counter. You can select either 00000000 or
80000000 (hex). When the counter is reset, it will take this value.
When RF=0, the counter will reset to 80000000h.
When RF=1, the counter will reset to 00000000h.
D.6 Timer Function
The card can generate an interrupt to the system based on a signal from its
digital inputs, overflow/underflow and over-compare / under-compare of
its counters, or on a programmed time interval. It can repeatedly generate
interrupts at any time interval you specify, from 20 microseconds to 51
second. These interrupts let you precisely monitor the speed of a control
system.
PCI-1784U User Manual
56
D.7 Interrupt Function
The PCI-1784U can generate an interrupt to the PC for any of the following conditions:
Counter 0 overflow
Counter 1 overflow
Counter 2 overflow
Counter 3 overflow
Counter 0 underflow
Counter 1 underflow
Counter 2 underflow
Counter 3 underflow
Counter 0 index in
Counter 1 index in
Counter 2 index in
Counter 3 index in
DI0 input
DI1 input
DI2 input
DI3 input
Counter 0 over-compare
Counter 1 over-compare
Counter 2 over-compare
Counter 3 over-compare
Counter 0 under-compare
Counter 1 under-compare
Counter 2 under-compare
Counter 3 under-compare
Timer pulse
57
Appendix D
Note that you can use only one of the card's interrupt sources at a given
time, unless you specially program your interrupt service routine to handle multiple interrupt sources.
You enable the PCI-1784U interrupt functions by accessed through the
registers at BASE+20H. You will need to set the chip's interrupt mask
register to exclude all but one of the interrupt lines.
PCI-1784U User Manual
58
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement