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I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 7

Features

Model

I-8093W

I-9093

Encoder Axis

3-axis

Encoder Counter

32-bit

Encoder counting mode

A/B Phase , Dir/Pulse , CW/CCW

Input Level

5V/12V/24V

Max. Speed

4M hz

6M hz

System 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 difference between I-8093W and I-9093

Functions

I-8093W

I-9093

CW/CCW



Dir/Pulse



A/B Phase



Read Encoder



XOR Bit



Index Latched Status





Read Frequency





External Trig Mode





Compared Trig Out





Previous Trig Steps





Low Pass Filter





Содержание I-8093W

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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...

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

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

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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