Advantech PC-LabCard PCI-1784 manual

1 Copyright This documentation and the software included with this product ar e copyrighted 2002 b y Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the ri ght to make improvements in the products described in this manual at an y time without notice. No part of this manual may be reproduced, copied, translated o r transmit[...]

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3 Contents 1. INTRODUCTION .................................................................................................................. 1 1.1 F EAT URES ........................................................................................................................ 1 1.2 A PPLI CA TIONS ................................................[...]

4 C.10 S OFTW ARE LA TCH — BASE+28H .............................................................................. 41 C.11 B OARD ID — BASE+28H.......................................................................................... 42 C.12 R ESET CO UNTER — BASE+2CH............................................................................[...]

1 1. Introd uction Thank you for bu y i ng the Advantech PCI-1784. The PC I-1784 is a 4- axis quadrature en coder and counter card for PC I bus. This card includes four 32-bit quadruple AB phase encod er counters, 8-bit timer with multi range time-base selector and four isolated di gital input and four isolated digital output. Its flexible interrup[...]

2 Counters The PCI-1784 has four independent 32-bit counters. The m aximum quadrature input rate is 2 MHz, and the max imum input rate in counter mode is 8 MHz. Y ou can indivi dually configure each co unter for quadrature decoding, pulse/direction countin g or up/down counting. Digital Input and Interrupts The PCI-1784 provides four digital input [...]

3 default configuration, depending on jumper setting. This practical function eliminate s dan ger c aused by miss-operation dur ing unex pected system reset. Board ID The PCI-1784 has a built-in DIP Switch that helps define each card’s ID when multiple PCI-1784 cards have been installed on the same PC chassis. The board I D settin g func tion is [...]

4 1.2 Applications ❏ Motion control ❏ Position sensing, monitoring and m easuring ❏ Coordinate measuring machines ❏ X-Y table monitors ❏ Robotics ❏ Machine control 1.3 Installation Guide Before you install your PCI-1784 card, please make sure you have the following necessary components: ❏ PCI-1784 DA&C card ❏ PCI-1784 User’s M[...]

5 Fig. 1-1 Installation Flow C hart Install Driver from CD-ROM, then power-off PC Install Har dwar e and pow er-on PC Use driver utility to configure h ardware Use test utility to test hardware Read exampl es & dri v er manual Start to w rite your own appl ication[...]

6 1.4 Software Ov erview Advantech offers a rich set of DLL drivers, third-pa rt y driver support and application software to help full y exploit the functions of your PCI- 1784 card: ❏ Device Drivers (on th e companion CD-R OM) ❏ LabVIEW driver* ❏ Advantech ActiveDAQ ❏ Advantech GeniDAQ Programming choices for DA&C cards: Y ou may use [...]

7 1.5 Device Driv ers Programm i ng Roadmap This section will provide y ou a roadmap to demonstrate how to build an application from scratch using Advantech Device Drivers with your favorite development tools such as V isual C++, V isual Basic, Delphi and C++ Builder . The step-by-step instructions on how to build your own applications using each d[...]

8 For information about using other function groups or other development tools, please refer to the Cr eating W indows 95/NT/2000 Application with Device Drivers chapter and the Fun ction Over view chapter on the De vice Drivers Manual . Programming with Device Driv ers Function Library Advantech Device Drivers of fers a rich function library to be[...]

9 1.6 Accessories Advantech offers a complete set of accessor y products to support the PCI-1784 card. These accesso ries include: Wiring Cable ❏ PCL-10137H The PC L -10137H shi elded cable is speciall y designed for PCI-1784 cards to provide high resistance to noise. T o achieve a bett er signal qual ity , the si gnal wires ar e twisted in such [...]

10 2. Installation This chapter gives users a package item checklist, pr oper instructions about unpacking and step-b y-step procedures for both driver and card installation. 2.1 Unpacking After receiving your PCI-1784 packa ge, please inspect its contents first. The package should contain the following items: ! PCI-1784 card ! Companion CD-ROM (DL[...]

11 Also pay extra caution to the following aspects to ensur e proper installation: ! A void ph y s ical contact with materials that could hold static electricit y such as plastic, vin yl and St y rofoam. ! 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. Not[...]

12 2.2 Driver Insta llation W e recommend you to install the driver before you install the P CI - 1784 card into your system, since this will guarantee a smooth installation pr ocess. The Advantech Device Driv ers Setup program for the PC I-1784 card is included on the companion CD-ROM that is shipped with your DA&C card packag e. Please fol lo[...]

13 Step 3: Select t he Individual Drivers option. Step 4: Select the specific device then just follow the installation instructions step by step to complete your device driver setup. Fig. 2-2 Dif ferent options for Driver Setup For further information on driver-r elated issues, an online version of Device Drivers Manual is available by acce ssing t[...]

14 Step 1: T urn off your computer and unplug the power cord and cables. TURN OFF your computer before installing o r removing any components on the computer . Step 2: Remove the cover of your computer . Step 3: Remove the slot cover on the back p anel of your computer . Step 4: T ouch the metal part on the surface of your computer to neutralize th[...]

15 Fig. 2-3 The device name listed on the Device Manager Note: ✎ If your card is properly installed, you should see the device na me of y ou r card listed on the Device Manager tab. If you do see your device name listed on it but marked with an exclamation sign “!”, it m eans your card has no t been correctly install ed. In this case, remove [...]

16 2.4 Device Setup & Configuration The PCI-1784 Utility program is a utility tha t allows you to setup, configure and test your device, and later stor es your setting s on the system reg istry . These settings will be used when you call the AP Is of Advantech Device Drivers. Board select ion After your card is properly inserted, the W indows s[...]

17 Setting Up and configure the dev ice Click Setup to config ure e ach param eter . The dialog box will appear as seen below (Fig. 2-5): Fig. 2-5 The ‘Setup’ dialog box[...]

18 Fig. 2-6 The “Operation” dialog box After your card is prop erly installed and confi gured, you can click the Operation button to test y our h ardware. For more detailed information, please refe r to Chapter 2 of the Device Drivers Manual . Y ou can also find the rich ex amples on the C D-ROM to speedin g up y our programming.[...]

19 3. Signal Connec tions 3.1 Overvie w 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 unnecessar y and costly damage to your PC and other hardware devices. This chapter provides useful information about how to c[...]

20 Setting the time to reset the digital outputs and the counter val u e Some users will want the capabilit y 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-1784 satisfies bo[...]

21 3.3 Si gnal Connections Pin A ssignment Figure 3-2 shows the pin assignments for the 37-pin I/O connector on the PCI-1784. EGND 1 20 CH 0A- CH0A + 2 21 CH0B- CH0B+ 3 22 CH 0Z- CH0Z + 4 23 CH1A - CH1A + 5 24 CH1B- CH1B+ 6 25 CH 1Z- CH1Z + 7 26 CH2A - CH2A + 8 27 CH2B- CH2B+ 9 28 CH 2Z- CH2Z + 10 29 CH3A - CH3A + 11 30 CH3B- CH3B+ 12 31 CH 3Z- CH3[...]

22 Quadrature encoder input Single ended outputs of Encoder A B I GND PCI-1784 connecto r CHnA+ CHnB+ CHnZ+ EGND Different ial outputs of Encoder or Line driv er GND A+ A- B+ B- I+ I- PCI-1784 connecto r EGND CHnA+ CHnA- CHnB+ CHnB- CHnZ+ CHnZ- Pulse/Dir ection Counter PULSE DIR GND PCI-1784 connecto r CHnA+ CHnB+ EGND Figure 3-3: Quadrature encode[...]

23 Up/Down Count er UP DN GND PCI-1784 connector CHnA+ CHnB+ EGND Two_Pulse Up Count er UP DN GND PCI-1784 connector CHnA+ CHnB+ EGND Two_Pulse Down Coun te r UP DN GND PCI-1784 connector CHnA+ CHnB+ EGND Figure 3-4: Quadrature encoder (up/down counter) input connections Note: ✎ In case y ou want to connect the Up/Down counter si gnal into the PC[...]

24 Isolated digital input VCC GND IDI0~IDI3 Internal External IDI COM DC (5-30V) Figure 3-4: Isolated digital input connections Isolated digital output Isolated Protection Circuit TTL level TTL level Internal IDO0~IDO3 External EGND Figure 3-5: Isolated digital output connections[...]

25 Appendix A. Specifications Encoder Output Number of Axis 4 (inde pendent) Resolutio n 32-bit w/ Digital Filter 1.0 MHz Max. Quadra ture Input Freq uency w/o Digital Filter 2.0 MHz Digital Fi lter 4 stage Driv e T ype Single-e nded or dif ferential Counter Mode Quadratur e, Up/Down, C ount/Dir ection Optical Is olation 2500 V DC Max. Input Pulse [...]

26 Interrupt Source Count er overflow , Counter un derflow , Index inp ut, Compare, T imer , Digital in put Counter Latch Source Software, T imer , Index inp u t, Digital inp u t General I/O Connect or T ype 37-pin D- sub femal e Dimensions 175 mm x 100 m m (6.9" x 3.9") Ty p i c a l +5 V @ 200 mA Power Cons umption Max. +5 V @ 450 mA Ope[...]

27 Appendix B. Blo ck Diagram PCI BU S ADDRESS , CONTROL AND DATA BUS PCI INTERF A CE 32- B I T MU LTI -MOD E UP/ DOWN COUNTE R 32- B I T MU LTI -MOD E UP/ DOWN COUNTE R CONT ROL UNI T 32- B I T MU LTI -MOD E UP/ DOWN COUNTE R 32- B I T UP/ DO WN COUNTE R COU NTER MODE CON TROL DI G I TAL FI LT ER PROG RAM MABLE TI ME-BASE GENERA TOR D IF F /S E IS[...]

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29 Appendix C. Reg ister Struc ture and For mat C.1 Overvie w The PCI-1784 is delivered with an eas y-to-use 32-bit DLL driver for user programming under the W indows 2000/95/98/NT/ME/XP operating system. W e advise users to program the PCI-1784 using the 32-bit DLL driver provided b y Advantech to avoid the complex ity of low-level prog ramming by[...]

30 T able C-1 PCI-1784 r egister format (Part 1) PCI-1784 Register Format 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base A d dress + HEX 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Counter 0 Mode DI3 DI2 DI 1 DI0 TM IX SW DF UL OL RF M2 M1 M0 W Counter 0 Latc h Data D15 D14 D13 D12 D1 1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 00H R D31 D30 D29 D28 D27 D26 [...]

31 T able C-1 PCI-1784 r egister format (Part 2) PCI-1784 Register Format 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base A d dress + HEX 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Counter 0 Compare Data D15 D14 D13 D12 D1 1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 W D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16 Counter 0 Compare Data D15 [...]

32 T able C-1 PCI-1784 r egister format (Part 3) PCI-1784 Register Format 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base A d dress + HEX 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Interrupt C ontrol DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0 UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0 W IE TM UC3 UC2 UC1 UC0 OC3 O C2 OC1 OC0 Interrupt Status DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX[...]

33 C.3 Counter 0/1/2/3 mode — BA SE+00/04/ 08/0CH T able C-2 PCI-1784 Register for counter 0/1/2/3 mode 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Counter 0 Mode DI3 DI2 DI 1 DI0 TM IX SW DF UL OL RF M2 M1 M0 00H W Counter 1 Mode DI3 DI2 DI 1 DI0 TM IX SW DF UL OL RF M2 M1 M0 04H W Counter 2 Mo[...]

34 UL Counter un derfl ow lock con tr o l 0 Counter continues counting (wraps over) when counter underflow 1 Counter locked when counter underflow DF Digital Filt er 0 Quadrature input frequenc y without digital filter 1 Quadrature input frequenc y with digital filter SW Soft war e latch count er data 0 Disable software latch 1 Enable software latc[...]

35 C.4 Counter 0/1/2/3 latch data — BA SE+00/ 04/ 08/ 0CH T able C-3 PCI-1784 Register for counter 0/1/2/3 latch data 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Counter 0 Latc h Data D15 D14 D13 D12 D1 1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 00H R D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19[...]

36 C.5 Counter 0/1/2/3 compare data — BA SE+10/14/18/1CH T able C-4 PCI-1784 Register for counter 0/1/2/3 compar e data 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Counter 0 Compare Data D15 D14 D13 D12 D1 1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 W D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 [...]

37 C.6 Interrupt control reg ister — BA SE+20H T able C-5 PCI-1784 Register for interrupt contr ol 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Interrupt c ontrol DI3 DI2 DI1 DI0 IX3 IX2 IX1 IX0 UN3 UN2 UN1 UN0 OV3 OV2 OV1 OV0 20H W IE TM UC3 UC2 UC1 UC0 OC3 O C2 OC1 OC0 OV n Int errupt by overfl[...]

38 C.7 Interrupt status register — BA SE+20H T able C-6 PCI-1784 Register for interrupt status 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 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 20H R IF T M UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0 OV n Counter overflow interrupt[...]

39 C.8 Clear Interrupt — BA SE+24H T able C-7 PCI-1784 Register for clock control 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Clock Control SC1 SC0 24H W TB2 TB 1 T B0 DV 7 DV 6 DV5 DV4 DV3 DV2 DV 1 DV0 SC1 ~ SC0 Sampling clock select 00 8 MHz sampling c lock 01 4 MHz sampling c lock 10 2 MHz sa[...]

40 C.9 Clear Interrupt — BA SE+24H Read this reg ister to clear the interr upt. T able C-8 PCI-1784 Register for clear interrupt 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Clear Interrupt 24H R[...]

41 C.10 Software latch — BA SE+28H T able C-9 PCI-1784 Register for softwar e latch 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Software Latch SL3 SL2 SL1 SL0 28H W SL n Softwar e latc h command ( n : 0 ~ 3) 0 N/A 1 Latch counter to latch register[...]

42 C.1 1 Board ID — BASE+28H The PCI-1784 of fers Board ID register BASE+28H. With correct Board ID settings, use r can easily identify and access e a ch card during hardware configuration a nd software programming. T able C-10 PCI-1784 Boar d ID data 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 [...]

43 C.12 Reset counter — BA SE+2CH T able C-1 1 PCI-1784 Register for r eset counter 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Reset Counter SR3 SR2 S R1 SR0 2CH W SR n Reset counter co mmand ( n : 0 ~ 3) 0 N/A 1 Reset counter to default value[...]

44 C.13 Digital output — B ASE+30H T able C-12 PCI-1784 Register for digital output 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Digital Output DO3 DO2 DO1 DO0 30H W DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0 UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0 DO3 ~ DO0 Digital output data OC n Digital output by over compare r[...]

45 C.14 Digital i nput/ output — BASE+30H T able C-13 PCI-1784 Register for digital input/output 1 5 1 4 1 3 1 2 1 1 1 0 987654321 0 Base Addr . 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Digital Input/O utput DI3 DI2 DI 1 DI0 DO3 DO2 DO1 DO0 30H R DM3 DM2 DM1 DM0 LE3 LE2 LE1 LE0 UC3 UC2 UC1 UC0 OC3 OC2 OC1 OC0 DO3 ~ DO0 Digital output data [...]

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47 Appendix D. Operatio n D.1 Quadr ature encoder introduction In typical closed-loop control systems, also know as servo s ystem, the encoder interface s enses motor position and sends a position signal to the controller . The dia gram below shows a t ypical servo system. The encoder generates pulses which indicate the sha ft position. The encoder[...]

48 Single-ended vs. differential input Most encoders produce square w ave signals with TTL levels. Industrial systems often use encod er with differential sign als, i.e. channel A and B and their complements. Dif ferential sig n als can reduce se nsitivit y to noise and allow longer transmission distances. Encoders ma y also produce a third signal [...]

49 2-pulse mode In 2-pulse mode the PCI-1784 uses two input pulses as counting sources: one for clock wise (CW) and one for counterclock wise (CCW) counting. The counter will increment wh enever a rising edge occurs on channel A. It will decre m ent whenever a rising edge occur s on channel B. pulse/direction mode In pulse/direction mode the PCI-17[...]

50 to 500 KHz quadrature input frequen cy . A 3600 rpm motor with 2000 ppr encoder will nave a max imum quadrature frequenc y of 3600×2000÷60 ＝ 120 KHz. In the above example the 2 MHz sampling clock will have the noise immunity and will meet the required input frequenc y . The following table shows the maximum noise pulse width that the filter [...]

51 DI0 latch A rising edge on the board's DI0 line will latch the counter v alue for the channel. 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 v alue for the channel. DI3 latch A rising edge on the DI3 line will latch the counte[...]

52 D.7 I nterrupt function The PCI-1784 can generate an inte rrupt to the PC for any of the following conditions: 1. Counter 0 overflow 2. Counter 1 overflow 3. Counter 2 overflow 4. Counter 3 overflow 5. Counter 0 underflow 6. Counter 1 underflow 7. Counter 2 underflow 8. Counter 3 underflow 9. Counter 0 index in 10. Counter 1 index in 11. Counter[...]

53 registers a t BASE+20H. Y ou will need to set the chip 's interr upt mask register to exclude all but one of the int errupt lines.[...]