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I-8093W/I-9093

Linux API Reference Manual

V2.0.0 July 2018

Written by Edward Ku

Edited by Anna Huang

Summary of Contents for I-8093W

Page 1: ...I 8093W I 9093 Linux API Reference Manual V2 0 0 July 2018 Written by Edward Ku Edited by Anna Huang 5...

Page 2: ...ny time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use nor for any infringements of patents or...

Page 3: ...i8093W_GetLibVersion 29 4 4 i8093W_SetMode 30 4 5 i8093W_GetMode 31 4 6 i8093W_SetXOR 32 4 7 i8093W_GetXOR 33 4 8 i8093W_GetLineStatus 34 4 9 i8093W_GetIndex 36 4 10 i8093W_Read32BitEncoder 37 4 11 i...

Page 4: ...7 i9093_GetTrigDistance 55 4 28 i8093_ReadNextPosition 56 4 29 i9093_ClearNextPosition 57 4 30 i8093_ConfigTriggerOut 58 4 31 i9093_GetTriggerOutConfig 59 4 32 i9093_SetLowPassFilter 60 4 33 i9093_Get...

Page 5: ...on This chapter provides information related to the hardware such as the specifications the jumper settings details and wiring information Chapter 2 Quick Start This chapter provides information on ho...

Page 6: ...d after the motor passes a certain position The high end specifications of I 8093W I 9093 and complete software support make it ideal for wide range applications in position measurement of motion syst...

Page 7: ...ystem LED Indicator 1 LED as Power Indicator 9 LED as Status Indicator 1 LED as Power Indicator 12 LED as Status Indicator Dimension L x W x H 102 mm x 30 mm x 115 mm 144 mm x 30 3 mm x 134 mm The dif...

Page 8: ...ogic Low 0 V 2 V Jumper Select Logic High 10 V 24 V Logic Low 0 8V Max Jumper Select Max Speed Quadrant 1 MHz 2 MHz Max CW CCW 4 MHz 6 MHz Pulse Dir 4 MHz 6 MHz Programmable Digital Filter 1 250 s A B...

Page 9: ...nal 4 kV Contact for Each Terminal 8 kV Air for Random Point Power Power Consumption 2 W Max Mechanical Dimension L x W x H 102 mm x 30 mm x 115 mm 144 mm x 30 3 mm x 134 mm Environment Operating Temp...

Page 10: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 10 1 2 Pin Assignments I 8093W...

Page 11: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 11 I 9093...

Page 12: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 12 1 3 Jumper Settings I 8093W 5V 24V Input Level Enable Disable 5V power supply 5V Enable 24V Disable...

Page 13: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 13 I 9093 5V 24V Input Level 5V 24V...

Page 14: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 14 1 4 Wire Connections I 8093W...

Page 15: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 15 I 9093...

Page 16: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 16 1 5 Block Diagram I 8093W I 8014CW I 9014C...

Page 17: ...nd to verify the functions 1 First user need to download LinPAC SDK which is includes GNU toolchain Libraries header examples files etc 2 Check the power cable Ethernet cable VGA monitor the communica...

Page 18: ...O Module User Manual v2 0 0 P 18 2 1 Getting start on LinPAC Controllers This part will show the functions of I 8093W with demo8093 file After execute demo8093W exe file you can see the functions as f...

Page 19: ...ter operation for Up Down mode is as follows When InA0 is used as an UP_clock and InB0 is used as a DOWN_clock counter_0 will be increased byoneforeveryfalling edgeofInA0and decreased byoneforevery fa...

Page 20: ...n InB0 is used as Dir If InB0 is High counter_0 will be increased by one for every falling edge of InA0 If InB0 is Low counter_0 will be decreased by one for every falling edge of InA0 CountN thecurre...

Page 21: ...ounter operation for A B Phase is as follows When InA0 is used as an A signal and InB0 is used as a B signal Counter_0 will be increased by one when the InA0 phase leads by 90 degrees to InB0 Counter_...

Page 22: ...t is disable when shipment enable XOR bit and the status of Z index will become 0 When the status of Z index 1 the encoder value will be latched 3 Preset value is used to set the set the starting posi...

Page 23: ...a camera to capture an image for the defect detection If the action of device takes time to prepare user can use pac_i8093W_SetPreTriggerSteps to adjust the delay that caused by the machine For examp...

Page 24: ...function use to get the firmware version of I 8093W I 9093 hardware i8093W_GetLibVersion This function use to get the library version of 8093W lib i8093W dll i8093W_SetMode This function use to set t...

Page 25: ...tExSignal For I 9093 only This function use to get External latch signal of I 9093 i9093_SetPreTriggerSteps For I 9093 only This function use to set steps to adjust the delay that caused by the machin...

Page 26: ...r I 9093 only This function use to set the low pass filter of I 9093 i9093_GetLowPassFilter For I 9093 only This function use to get the Low Pass Filter of I 9093 i9093_ReadIndexLatchedPosition For I...

Page 27: ...there is no I 8093W I 9093 module in this slot For other return values please refer the Error Code Note Before executing any functions on the I 8093W I 9093 the i8093W_Init function needs to be calle...

Page 28: ...get the firmware version of I 8093W hardware Syntax short i8093W_GetFirmwareVersion int slot Parameter slot specifies the slot number 1 8 Return Values The version number of the primary FPGA firmware...

Page 29: ...etLibVersion This function use to get the library version of 8093W lib i8093W dll Syntax short i8093W_GetLibVersion void Parameter None Return Values The version number of the 8093W lib i8093W dll Exa...

Page 30: ...SetMode int slot int ch int Mode For Windows CE and WES Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Mode set encoder counting mode 1 CW CCW counting mode 2 Pulse Directio...

Page 31: ...i8093W_GetMode int slot int ch int Mode Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Mode output get encoder counting mode 1 CW CCW counting mode 2 Pulse Direction counti...

Page 32: ...9093 for each channel Syntax int i8093W_SetXOR int slot int ch int Xor Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Xor to change the status of Z_index 0 not activated 1 a...

Page 33: ...for each channel Syntax int i8093W_GetXOR int slot int ch int Xor Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Xor output to change the status of Z_index 0 not activated...

Page 34: ...of I 8093W I 9093 Syntax int i8093W_GetLineStatus int slot int ch int A_Status int B_Status int C_Status Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Output A_Status outpu...

Page 35: ...3W I 9093 I O Module User Manual v2 0 0 P 35 Return Values Please refer the Error Code Example int slot ch A_Status B_Status C_Status Open_Slot slot i8093W_GetLineStatus slot ch A_Status B_Status C_St...

Page 36: ...tatus of I 8093W I 9093 Syntax int i8093W_GetIndex int slot int ch int index Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 index output 0 not activated 1 activated Return V...

Page 37: ...number 1 8 ch specifies the channel 0 2 EnCode32 output get encoder value Return Values return Index enable disable and Index latched status of I 8093W 0 Disable Index Latch 0 Index Not Latched 0 1 En...

Page 38: ...tion use to reset 32 Bit Encoder value to zero Syntax int i8093W_ResetEncoder int slot int ch Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Return Values Please refer the E...

Page 39: ...W_SetPresetValue int slot int ch long presetVal Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 presetVal Set preset value Return Values Please refer the Error Code Note Pres...

Page 40: ...093W_GetPresetValue int slot int ch long presetVal Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 presetVal output get preset value Return Values Please refer the Error Code...

Page 41: ...t int ch float freq Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 freq output get frequency value Return Values Please refer the Error Code Note 1 read frequency function s...

Page 42: ...function of i 8093 Return Values Please refer the Error Code Note 1 normally we can use i8093W_GetIndex to read the Z_index status but sometimes it is not easy to let the encoder to match the right p...

Page 43: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 43 Example int slot ch int ifEnableLatch Open_Slot slot i8093W_SetIndexLatchStatus slot ch ifEnableLatch...

Page 44: ...us int slot int ch int latchedStatus int ifEnableLatch Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 latchedStatus output check z index latched or not ifEnableLatch output...

Page 45: ...function use to clear the index latched status Syntax int i8093W_ClearLatchedIndex int slot int ch Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Return Values Please refer...

Page 46: ...9093 only int i9093_SetExTrigMode int slot int ch unsigned char Mode Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Mode 0 disable external latched mode 1 reset encoder 2 e...

Page 47: ...int i9093_GetExTrigMode int slot int ch unsigned char Mode Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Mode output get status of external latched mode 0 disable external...

Page 48: ...ernal latch signal of I 9093 Syntax for I 9093 only int i9093_SetExSignal int slot unsigned char Edge Parameter slot specifies the slot number 1 8 Edge 0 Falling edge 1 rising edge Return Values Pleas...

Page 49: ...l latch signal of I 9093 Syntax for I 9093 only int i9093_GetExSignal int slot unsigned char Edge Parameter slot specifies the slot number 1 8 Edge output 0 Falling edge 1 rising edge Return Values Pl...

Page 50: ...ed by the machine Syntax for I 9093 only int i9093_SetPreTriggerSteps int slot int ch unsigned char Steps Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Steps Set the steps...

Page 51: ...x for I 9093 only int i90093_GetPreTriggerSteps int slot int ch unsigned char Steps Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Steps output get steps 0 255 Return Values...

Page 52: ...tax for I 9093 only int i9093_SetFirstTrigPosition int slot int ch unsigned long Position Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Position Set first trig position Ret...

Page 53: ...for I 9093 only int i9093_GetFirstTrigPosition int slot int ch unsigned long Position Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Position output get first trig position...

Page 54: ...nly int i9093_SetTrigDistance int slot int ch int dir unsigned long Distance Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 dir Direction count Distance set Distance Return...

Page 55: ...only int i9093_GetTrigDistance int slot int ch int dir unsigned long Distance Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 dir Direction count Distance output get Distance...

Page 56: ...093 Syntax for I 9093 only int pac_i8093W_ReadNextPosition int slot int ch unsigned long Data32 Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Data32 output get next positio...

Page 57: ...use to clear next trig position of I 9093 Syntax for I 9093 only int i9093_ClearNextPosition int slot int ch Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Return Values Pl...

Page 58: ...I 9093 Syntax for I 9093 only int i9093_ConfigTriggerOut int slot int ch unsigned char enStatus Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 enStatus set compare trig out...

Page 59: ...Syntax for I 9093 only int i9093_GetTriggerOutConfig int slot int ch unsigned char enStatus Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 enStatus output get compare trig o...

Page 60: ...sFilter int slot int ch int filter Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 filter Max Input frequency Value CW CCW DIR Pulse A B Phase 0 4MHz No low pass filter 6MHz...

Page 61: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 61 Example int slot ch filter Open_Slot slot i9093_SetLowPassFilter slot ch filter...

Page 62: ...ter int slot int ch int filter Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 filter output Max Input frequency Value CW CCW DIR Pulse A B Phase 0 4MHz No low pass filter 6M...

Page 63: ...I 8093W I 9093 I O Module User Manual v2 0 0 P 63 Example int slot ch filter Open_Slot slot i9093_GetLowPassFilter slot ch filter...

Page 64: ...igin of the motor easier Syntax for I 9093 only For Windows CE and WES int i9093_ReadIndexLatchedPosition int slot int ch long Data32 Parameter slot specifies the slot number 1 8 ch specifies the chan...

Page 65: ...093 Syntax for I 9093 only int i9093_ReadExTrigLatchedPosition int slot int ch long Data32 Parameter slot specifies the slot number 1 8 ch specifies the channel 0 2 Data32 output get the external trig...

Page 66: ...is indicates that there have been no errors 1 ID_ERROR There was a problem with the module ID 2 SLOT_OUT_RANGE There was a Slot index error 1 8 3 CHANNEL_OUT_RANGE There was a Channel index error 0 15...

Page 67: ...to this document The table below shows the revision history Revision Date Description 1 0 0 January 2018 Initial issue 2 0 0 July 2018 Added content for the I 9093 modules Added 2 Quick start Added 3...

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