ICP DAS USA I-8091, I-8090 User Manual

I-8090/I-8091 User Manual Version 1.0 06/2001

User Manual

Part 1: I-8090 3-axis encoder card
Part 2: I-8091 2-axis stepping/servo

control card

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I-8090/I-8091 User Manual Version 1.0 06/2001

I-8090 Contents _

1. Hardware 1-4

1.1 I-8000 hardware address 1-4

1.2 Registers of I-8090 Board 1-5

1.3 LED indicator 1-8

1.4 Connection 1-9

2. Software 1-13

2.1 Constants and Functions 1-13

2.2 Eaxmples 1-17

2.2.1 Detect I-8090 card 1-17

2.2.2 Start to use I-8090 card 1-18

2.2.3 Get X, Y, Z-axis encoder counter’s value 1-18

2.2.4 Software 32 bits encoder counter programming 1-20

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I-8090/I-8091 User Manual Version 1.0 06/2001

I-8091 Contents _

1. Introduction 2-4

1.1 System Block Diagram 2-4

1.2 DDA technology 2-5

2. Hardware 2-8

2.1 I-8000 hardware address 2-8

2.2 Register of I-8091 board 2-9

2.3 LED indicator 2-10

2.4 Hardware configuration 2-11

2.4.1 Limit switch configuration 2-11

2.4.2 Output pulse mode configuration 2-12

2.4.3 Direction configuration 2-12

2.4.4 Turn Servo ON/OFF (Hold ON/OFF) 2-12

2.4.5 Automatic protection 2-12

2.4.6 Set limit switch as normal close condition 2-13

2.5 Connection 2-14

2.5.1 Pin assignment of connector CN2 2-14

2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD 2-15

2.5.3 The internal circuit of limit switch input 2-15

2.5.4 Example of connection 2-16

3. Software 2-18

3.1 Functions 2-18

3.1.1 Setting commands 2-20

3.1.2 Stop commands 2-24

3.1.3 Simple motion commands 2-25

3.1.4 Interpolation commands 2-30

3.1.5 Others 2-35

3.2 Start up and end of program 2-37

4. Example 2-39

4.1 Detect I-8091 card 2-39

4.2 Example: DEMO.cpp 2-40

4.3 Example: DEMO1.cpp 2-40

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I-8090 User Manual Version 1.0 06/2001

I-8090

3-axis encoder card

User Manual

Version 1.0 06/2001 Edition

Warranty: All products manufactured by ICP DAS are warranted against
defective materials for one year from the date of delivery to the original
purchaser

Warning: ICP DAS assumes no liability for damage consequent to the
use of this product. ICP DAS reserves the right to change this manual at
any 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 it’s use, nor for any infringements of patents or
other rights of third parties resulting from it’s use.

Copyright
Copyright 2001 by ICP DAS. All right are reserved

Trademark
The names used for identification only maybe registered trademarks of
their respective companies.

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I-8090 User Manual Version 1.0 06/2001

I-8090 3-axis encoder card

I-8090 is a 3-axis encoder counter board on I-8000 platform. I-8090
encoder card has internal digital filter, 16 bits counter and high counting rate
1Mpps. The application of I-8090 board is position/distance measurement,
velocity measurement, feedback for motor control, handwheel input and so on.

A system including I-8000 (main system), I-8091 (2-axis stepping/servo
control card), I-8090 (3-axis encoder card) can be implemented as a
standalone motion controller system for low cost automatical machine.

Features

I-8000 series.

!

3-axis, 16 bits encoder counter.

!

32 bits encoder counter by software.

!

Maximum counting rate : 1M pulse/sec.

!

Differential input A+, A-, B+, B-, C+, C-.

!

Quadrant counting mode, CW/CCW counting mode, Pulse/Dir

!

counting mode.

2500V optical isolation

!

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I-8090 User Manual Version 1.0 06/2001

8090 Contents _

1. Hardware 1-4

1.1 I-8000 hardware address 1-4

1.2 Registers of I-8090 Board 1-5

1.3 LED indicator 1-8

1.4 Connection 1-9

2. Software 1-13

2.1 Constants and Functions 1-13

2.2 Eaxmples 1-17

2.2.1 Detect I-8090 card 1-17

2.2.2 Start to use I-8090 card 1-18

2.2.3 Get X, Y, Z-axis encoder counter’s value 1-18

2.2.4 Software 32 bits encoder counter programming 1-20

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I-8090 User Manual Version 1.0 06/2001

1. Hardware _

1.1 I-8000 hardware address

The hardware address of I-8000 main system is fixed as following table.
There are 4 slots I-8000 and 8 slots I-8000.

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8
I-8000, 4 slot
Address
I-8000, 8 slot
Address

I-8000, 4 slots

I-8000, 8 slots

0x080 0x0A0 0x0C0 0x0E0 --- --- --- ---

0x080 0x0A0 0x0C0 0x0E0 0x140 0x160 0x180 0x1A0

Slot 1 Slot 2 Slot 3 Slot 4

88888

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8

88888

Fig(1) I-8000 hardware address

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I-8090 User Manual Version 1.0 06/2001

1.2 Registers of I-8090 board

The

I-8090

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ID 0x00 R 0x0D
XDATA 0x01 R X-axis encoder value
YDATA 0x02 R Y-axis encoder value
ZDATA 0x03 R Z-axis encoder value
INDEX 0x04 R ZI YI XI
XCTRL 0x00 W S1 S0 /RST /INH /SEL
YCTRL 0x01 W S1 S0 /RST /INH /SEL
ZCTRL 0x02 W S1 S0 /RST /INH /SEL

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ID 0x00 R 0x0D

The ID register is read only and its value is fixed as 0x0D. User can check this

card’s registers table as following.

register to identify I-8090 card or not.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
XDATA 0x01 R X-axis encoder value

XDATA: the X-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set
/SEL=0 (XCTRL register), the high byte can be read out when set /SEL=1
(XCTRL register).

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
YDATA 0x02 R Y-axis encoder value

YDATA : the Y-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set
/SEL=0 (YCTRL register), the high byte can be read out when set /SEL=1
(YCTRL register).

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ZDATA 0x03 R Z-axis encoder value

ZDATA : the Z-axis encoder counter value can be read out from this register.
The low byte value of 16 bits encoder counter can be read out when set

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I-8090 User Manual Version 1.0 06/2001

/SEL=0 (ZCTRL register), the high byte can be read out when set /SEL=1
(ZCTRL register).

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
INDEX 0x04 R ZI YI XI

The index input C+/C- can read out from this register. These bits are active
high.
XI : indicate the index of X-axis (C+/C- input).
YI : indicate the index of Y-axis (C+/C- input).
ZI : indicate the index of Z-axis (C+/C- input).

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
XCTRL 0x00 W S1 S0 /RST /INH /SEL
YCTRL 0x01 W S1 S0 /RST /INH /SEL
ZCTRL 0x02 W S1 S0 /RST /INH /SEL

The XCTRL,YCTRL and ZCTRL register are control registers for X-axis, Y­axis, Z-axis respectively.

: reset counter to zero

/RST

: inhibit the counter data latch. This bit must be set 0 before read

/INH

out the counter value to inhibit the counter data latch to DATA
registers.

: to select low byte or high byte for reading the counter value.

/SEL

0 : low byte
1 : high byte

S1, S0

: to select counting mode

: quadrant counting mode

00

A
B

123456counter

Quadrant Counting Mode

Fig(2) Quadrant counting mode

: CW/CCW counting mode

01

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I-8090 User Manual Version 1.0 06/2001

CW
CCW

12counter

X2=0

CW/CCW Counting Mode

Fig(3) CW/CCW counting mode

: Pulse/Direction counting mode

10

Pulse

Direction

12counter

X2=0

Pulse/Direction Counting Mode

Fig(4) Pulse/Direction counting mode

Example: assign counting mode

x_mode=y_mode=z_mode=0x00;
card[cardNo].ctrl1 = 0x07 | x_mode;
card[cardNo].ctrl2 = 0x07 | y_mode;

32 1

321

card[cardNo].ctrl3 = 0x07 | z_mode;
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

Example: read X-axis encoder value
card[cardNo].ctrl1 &= 0xFC; //1111 1100 low byte

outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value = inportb(card[cardNo].base + RD1);
card[cardNo].ctrl1 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value += inportb(card[cardNo].base + RD1)*256;
card[cardNo].ctrl1 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);

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I-8090 User Manual Version 1.0 06/2001

1.3 LED Indicator

power

1A 1B 1C 2A 2B 2C

Fig(5) I-8090 LED indicator

Where

1A, 1B, 1C indicate X-axis’s 1A+/1A-, 1B+/1B-, 1C+/1C- signal input.
2A, 2B, 2C indicate Y-axis’s 2A+/2A-, 2B+/2B-, 2C+/2C- signal input.
3A, 3B, indicate Z-axis’s 3A+/3A-, 3B+/3B- signal input.

3A

3B

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I-8090 User Manual Version 1.0 06/2001

1.4 Connection

CN2
DB25M-90

1A+
1A­1B+
1B­1C+
1C­E5V
EGND

2A+
2A­2B+
2B­2C+
2C-

E5V
EGND

3A+
3A­3B+
3B­3C+
3C­E5V
EGND
EGND

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

Fig (6) Pin out of CN2 connector

Table of CN2 connector

Pin name Pin number description

1A+ 1 A+ input of X-axis encoder

1A- 14 A- input of X-axis encoder

1B+ 2 B+ input of X-axis encoder

1B- 15 B- input of X-axis encoder

1C+ 3 C+ input of X-axis encoder

1C- 16 C- input of X-axis encoder

E5V 4 Isolated 5V supply, max. 50mA (sum of pin 4,8,12)

EGND 17 Signal ground

2A+ 5 A+ input of Y-axis encoder

2A- 18 A- input of Y-axis encoder

2B+ 6 B+ input of Y-axis encoder

2B- 19 B- input of Y-axis encoder

2C+ 7 C+ input of Y-axis encoder

2C- 20 C- input of Y-axis encoder

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I-8090 User Manual Version 1.0 06/2001

E5V 8 Isolated 5V supply, max. 50mA (sum of pin 4,8,12)

EGND 21 Signal ground

3A+ 9 A+ input of Z-axis encoder

3A- 22 A- input of Z-axis encoder

3B+ 10 B+ input of Z-axis encoder

3B- 23 B- input of Z-axis encoder

3C+ 11 C+ input of Z-axis encoder

3C- 24 C- input of Z-axis encoder

E5V 12 Isolated 5V supply, max. 50mA (sum of pin 4,8,12)
EGND 25 Signal ground
EGND 13 Signal ground

CN2
DB25M-90

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

Encoder

A+
A­B+
B­C+
C­5V
GND

1A+
1A­1B+
1B­1C+
1C­E5V
EGND
2A+
2A­2B+
2B-

2C+
2C­E5V
EGND
3A+
3A-

3B+
3B-

3C+
3C­E5V
EGND
EGND

Fig (7) Connection between encoder and I-8090 card

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I-8090 User Manual Version 1.0 06/2001

CN2
DB25M-90

Encoder

A+
B+
C+

5V
GND

1A+
1A­1B+
1B­1C+
1C­E5V
EGND
2A+
2A­2B+
2B­2C+
2C­E5V
EGND
3A+
3A-

3B+
3B-

3C+
3C­E5V
EGND
EGND

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

Fig (8) Connection between open collecter type encoder and I-8090 card

CN2
DB25M-90

CW/PULSE

CCW/DIR

INDEX

1A+
1A-

1B+
1B-

1C+
1C­E5V
EGND

2A+
2A­2B+
2B­2C+
2C­E5V
EGND
3A+
3A­3B+
3B­3C+
3C­E5V
EGND
EGND

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

Fig (9) The connection for CW/CCW or Pulse/Direction counting mode

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I-8090 User Manual Version 1.0 06/2001

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

CN2
DB25M-90

EXT_VCC

(12V~24V)

PHOME2

PLS21

PLS24

CW_PULSE1
CW_PULSE2
CCW_DIR1
CCW_DIR2

HOLD1
HOLD2

EXT_VCC

PHOME1

EXT_GND

PLS11

PLS14
PEMG

S5V

SGND

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

CN2
DB25M-90

1A+
1A­1B+
1B­1C+
1C­E5V
EGND
2A+
2A­2B+
2B­2C+
2C­E5V
EGND
3A+
3A-

3B+
3B-

3C+
3C­E5V
EGND
EGND

S8090 c ardS8091 c ard

Fig (10) The connection between I-8090 and I-8091 for function testing or

pulse feedback by I-8090 encoder card.

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I-8090 User Manual Version 1.0 06/2001

2. Software _

User’s applications could be compiled under DOS Turbo/Borland C/C++
environment. It should be include i8090.h and i8090.LIB to compile the target
execution file. The execution files can be downloaded under I-8000 main
system (execute 7188x.exe), and then run the target execution file as under
PC system. About the I-8000’s resource or environment, please refer to the
manual of I-8000 system or its software programming guide.

The following section will introduce the I-8090’s functions and examples.

2.1 constants and functions

Constants

#define YES 1
#define NO 0
#define ON 1
#define OFF 0

#define X_axis 1
#define Y_axis 2
#define Z_axis 3

#define ENC_QUADRANT 0x00
#define ENC_CW_CCW 0x10
#define ENC_PULSE_DIR 0x20

Functions

(1) unsigned char i8090_REGISTRATION(unsigned char cardNo,

unsigned int address)

In order to distinguish more than one I-8090 card in I-8000 platform,
the I-8090 c ards should be re gistrated before using it. This command
will assign a card number=“cardNo” to I-8090 card address=”address” .
If there is not I-8090 at the given address, this command will return
“NO”.
cardNo: 0~19, assign the address as which card.

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I-8090 User Manual Version 1.0 06/2001

address: hardware address which defined at chapter 1.1
Return: “YES” : registration successful
“NO” : registration failure.

Example: This example will assign I-8090 card address=0x080 as
CARD1 (1). Then initial the I-8090 card and reset X,Y,Z axis encoder
counter value to 0.

#define CARD1 1
…
i8090_REGISTRATION(CARD1, 0x080);
i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT,
ENC_QUADRANT);
i8090_RESET_ENCODER(CARD1, X_axis);
i8090_RESET_ENCODER(CARD1, Y_axis);
i8090_RESET_ENCODER(CARD1, Z_axis);

(2) void i8090_INIT_CARD(unsigned char cardNo,

unsigned char x_mode,

unsigned char y_mode,
unsigned char z_mode)

This command will reset all three axis’s counter value of “cardNo” card,
and assign its counting mode. The counting mode (S1,S0) has been
explained in registers XCTRL, YCTRL, ZCTRL.
cardNo: 0~19, select which card.
x_mode, y_mode, z_mode: select the counting mode.
0x00 : quadrant counting mode
0x10 : CW/CCW counting mode
0x20 : Pulse/Direction counting mode

Example:
#define ENC_QUADRANT 0x00
#define ENC_CW_CCW 0x10
#define ENC_PULSE_DIR 0x20

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I-8090 User Manual Version 1.0 06/2001

i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT,
ENC_QUADRANT);

(3) unsigned int i8090_GET_ENCODER(unsigned char cardNo,

unsigned char axis)

This command will return the coun ter valu e of the selected “axis” and
“cardNo”.
cardNo: 0~19, select which card.
axis : select which axis.
1 : X-axis
2 : Y-axis
3 : Z-axis
return : a 16 bits unsigned integer value.

(4) void i8090_RESET_ENCODER(unsigned char cardNo, unsigned

char axis)

This command will reset the counter value of the selected “axis” and
“cardNo”.
cardNo: 0~19, select which card.
axis : select which axis.
1 : X-axis
2 : Y-axis
3 : Z-axis

(5) unsigned char i8090_GET_INDEX(unsigned char cardNo)

It will return the “INDEX” register’s value of the selected “cardNo” card.
cardNo: 0~19, select which card.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

INDEX 0x04 R ZI YI XI

The index input C+/C- can read out from this register. These bits are active

high.

XI : indicate the index of X-axis.

YI : indicate the index of Y-axis.

ZI : indicate the index of Z-axis.

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I-8090 User Manual Version 1.0 06/2001

32 bits encoder counts command sets

(6) void i8090_ENCODER32_ISR(unsigned char cardNo)

(7) void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned

char axis)

(8) long i8090_GET_ENCODER32(unsigned char cardNo, unsigned

char axis)

cardNo: 0~19, select which card.
axis : select which axis.
1 : X-axis
2 : Y-axis
3 : Z-axis
The above three commands provided a software method to get 32 bits
encoder counts.

The

i8090_ENCODER32_ISR(unsigned char cardNo)

command
calculates the difference pulse between present and last time, and then
add this difference into a
the

i8090_ENCODER32_ISR()

”long type”

variable. According to this idea, so,

command should be executed

periodically in 2~10ms by timer interrupt or manually call it.

The

i8090_RESET_ENCODER32((unsigned char cardNo,

unsigned char axis)

command can reset the

“long type”

variable to

zero.

The

long i8090_GET_ENCODER32(unsigned char cardNo,

unsigned char axis)

command can return the value of the

“long type”

variable.

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I-8090 User Manual Version 1.0 06/2001

2.2 examples

2.2.1 Detect I-8090 card

//--------------------------------------------------­// detect i8090,i8091,i8092 card
//--------------------------------------------------­#include "8000.h"
#include "i8090.h"

#define i8090 0x0d
#define i8091 0x0e
#define i8092 0x0f
#define NOCARD 0x00
#define MAX_SLOT_NO 8
unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160,
0x180, 0x1a0};
//--------------------------------------------------­void main ()
{
unsigned char slot,temp;

for (slot=0; slot<MAX_SLOT_NO; slot++)
{
temp=inportb(PortAddress[slot]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card

Print("Slot %d = i8090\r\n",SlotNum);
return i8090;

case i8091: //i8091 2-axis stepping card

Print("Slot %d = i8091\r\n",SlotNum);
return i8091;

case i8092: //i8092

Print("Slot %d = i8092\r\n",SlotNum);

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I-8090 User Manual Version 1.0 06/2001

return i8092;

default:

Print("Slot %d = No Card\r\n",SlotNum);

return NOCARD;
};
Delay(500);
};
}

2.2.2 Start to use I-8090 card

#define CARD1 1

if (i8090_REGISTRATION(CARD1, PortAddress[0])==YES)

{
i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUADRANT,
ENC_QUADRANT);

i8090_RESET_ENCODER(CARD1, X_axis);
i8090_RESET_ENCODER(CARD1, Y_axis);

i8090_RESET_ENCODER(CARD1, Z_axis);
}
else
{
Print(“ Not found I-8090 card in slot 0!”);
return;
}

2.2.3 Get X, Y, Z-axis encoder counter’s value

unsigned int i8090_GET_ENCODER(unsigned char cardNo, unsigned char
axis)
{
unsigned int value;

switch (axis)
{
case X_axis:

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I-8090 User Manual Version 1.0 06/2001

card[cardNo].ctrl1 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value = inportb(card[cardNo].base + RD1);

card[cardNo].ctrl1 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
value += inportb(card[cardNo].base + RD1)*256;

card[cardNo].ctrl1 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
break;

case Y_axis:

card[cardNo].ctrl2 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
value = inportb(card[cardNo].base + RD2);

card[cardNo].ctrl2 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
value += inportb(card[cardNo].base + RD2)*256;

card[cardNo].ctrl2 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
break;

case Z_axis:

card[cardNo].ctrl3 &= 0xFC; //1111 1100 low byte
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
value = inportb(card[cardNo].base + RD3);

card[cardNo].ctrl3 |= 0x01; //0000 0001 high byte
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
value += inportb(card[cardNo].base + RD3)*256;

card[cardNo].ctrl3 |= 0x03; //0000 0011
outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

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I-8090 User Manual Version 1.0 06/2001

break;
default : break;
}

return value;
}

2.2.4 Software 32 bits encoder counter programming

//-------------------------------------------------------------------­// demo1.cpp for I-8090 card
// This program demostrates the software 32 bits encoder method by
// void i8090_ENCODER32_ISR(un s igned char cardNo);
// void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned char
axis);
// long i8090_GET_ENCODER32(unsigned char cardNo, unsigned char
axis);
//-------------------------------------------------------------------­// v1.0 4/7/2001
//
//-------------------------------------------------------------------­#include <dos.h>
#include <math.h>
#include "8000.h"
#include "i8090.h"

#define i8090 0x0d
#define i8091 0x0e
#define i8092 0x0f
#define NOCARD 0x00

#define Insert 0x0000
#define BasePort 0x0080
#define SlotOffset 0x0020
#define IDPort 0x0000

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I-8090 User Manual Version 1.0 06/2001

#define CARD1 1
#define CARD2 2
#define MAX_SLOT_NO 8
unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160,
0x180, 0x1a0};
//-------------------------------------------------------------------­long x_value;
long y_value;
long z_value;
unsigned char index;
unsigned char x_index;
unsigned char y_index;
unsigned char z_index;

unsigned char i8090Slot;
//--------------------------------------------------------------------

//-------------------------------------------------------------------­void ShowLedValue(long value,unsigned char axis)
{
long j;
unsigned char negative_value;

if (value<0) negative_value=1;
else negative_value=0;
value=labs(value);

j=value-10*(value/10);
if (negative_value) Show5DigitLedWithDot(0x05, j);
else Show5DigitLed(0x05, j);

value=value/10;
j=value-10*(value/10);

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I-8090 User Manual Version 1.0 06/2001

Show5DigitLed(0x04, j);
value=value/10;
j=value-10*(value/10);
if (axis==Z_axis) Show5DigitLedWithDot(0x03, j);
else Show5DigitLed(0x03, j);
value=value/10;
j=value-10*(value/10);
if (axis==Y_axis) Show5DigitLedWithDot(0x02, j);
else Show5DigitLed(0x02, j);
value=value/10;
j=value-10*(value/10);
if (axis==X_axis) Show5DigitLedWithDot(0x01, j);
else Show5DigitLed(0x01, j);
}
//--------------------------------------------------­void ShowCardName(unsigned char SlotNum)
{
unsigned char temp;

Show5DigitLed(0x05, SlotNum);
temp=inportb(PortAddress[SlotNum]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Show5DigitLedSeg (0x01, 0x7F);
Show5DigitLedSeg (0x02, 0x7E);
Show5DigitLedSeg (0x03, 0x7B);
Show5DigitLedSeg (0x04, 0x7E);
break;
case i8091: //i8091 2-axis stepping card
Show5DigitLedSeg (0x01, 0x7F);
Show5DigitLedSeg (0x02, 0x7E);
Show5DigitLedSeg (0x03, 0x7B);
Show5DigitLedSeg (0x04, 0x30);

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I-8090 User Manual Version 1.0 06/2001

break;
default:
Show5DigitLedSeg (0x01, 0x01);
Show5DigitLedSeg (0x02, 0x01);
Show5DigitLedSeg (0x03, 0x01);
Show5DigitLedSeg (0x04, 0x01);
break;
};
}
//--------------------------------------------------­unsigned char CardSearch(unsigned char SlotNum)
{
unsigned char temp;

temp=inportb(PortAddress[SlotNum]);
ShowCardName(SlotNum);
switch (temp)
{
case i8090: //i8090 3-axis encoder card
Print("Slot %d = i8090\r\n",SlotNum);
return i8090;
case i8091: //i8091 2-axis stepping card
Print("Slot %d = i8091\r\n",SlotNum);
return i8091;
default:

Print("Slot %d = No Card\r\n",SlotNum);
return NOCARD;
};
}

//--------------------------------------------------------------------------------­void main ()
{
unsigned char j;

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I-8090 User Manual Version 1.0 06/2001

int key,ShowAxis;

i8090Slot=99;
for (j=0; j<MAX_SLOT_NO; j++)
{
if (CardSearch(j)==i8090) i8090Slot=j;
Delay(500);
};

if (i8090Slot==99)
{
Print("Not found i8090 card in 8 slot!\r\n");
return;
}

i8090_REGISTRATION(CARD1, PortAddress[i8090Slot]);
i8090_INIT_CARD(CARD1, ENC_QUADRANT, ENC_QUA DRANT,
ENC_QUADRANT);
i8090_RESET_ENCODER(CA RD1, X_axis);
i8090_RESET_ENCODER(CA RD1, Y_axis);
i8090_RESET_ENCODER(CA RD1, Z_axis);
i8090_RESET_ENCODER32(CARD1, X_axis);
i8090_RESET_ENCODER32(CARD1, Y_axis);
i8090_RESET_ENCODER32 (CARD1, Z_axis);

Print("-------------- ---------------------------------------------------------\r\n");
Print(" i8090 DEMO1 program demo1.PRJ, demo1.cpp, i8090.lib
\r\n");
Print(" 32 bits encoder demostration \r\n");
Print("-------------- ---------------------------------------------------------\r\n");
Print("Press any key to stop...\r\n");
ClearSystemKey();
ShowAxis=0;
do

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I-8090 User Manual Version 1.0 06/2001

{
Delay(5); //delay 5ms
//--------------------------------------------------­ // i8090_ENCODER32_ISR(CARD1) should be called in 2~10ms
// or call it by a timer interrupt service routine by 2~10ms
//--------------------------------------------------­ i8090_ENCODER32_ISR(CARD1);

//--------------------------------------------------­ x_value = i8090_GET_ENCODER32(CARD1, X_axis);
y_value = i8090_GET_ENCODER32(CARD1, Y_axis);
z_value = i8090_GET_ENCODER32(CARD1, Z_a xis);
index = i8090_GET_INDEX(CARD1);
x_index = index & 0x01;
y_index = (index & 0x02) >> 1;
z_index = (index & 0x04) >> 2;

if (IsSystemKey())
{

key=GetSystemKey();
ClearSystemKey();
switch (key)
{
case SKEY_DOWN:
ShowAxis++;
if (ShowAxis>2) ShowAxis=0;
break;
case SKEY_UP:
ShowAxis--;

if (ShowAxis<0) ShowAxis=2;
break;
};
}

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I-8090 User Manual Version 1.0 06/2001

switch (ShowAxis)
{
case 0: ShowLedValue(x_value,X_axis); break;
case 1: ShowLedValue(y_value,Y_axis); break;
case 2: ShowLedValue(z_value,Z_axis); break;
};
if (x_index) LedRunOff(); else LedRunOn();
if (y_index) LedCommOff(); else LedCommOn();
if (z_index) LedBattOff(); else LedBattOn();
} while (!Kbhit());
}

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I-8091 User Manual Version 1.0 06/2001

I-8091

2-axis stepping/servo motor control card

User Manual

Version 1.0 06/2001 Edition

Warranty: All products manufactured by ICP DAS are warranted against
defective materials for one year from the date of delivery to the original
purchaser

Warning: ICP DAS assumes no liability for damage consequent to the
use of this product. ICP DAS reserves the right to change this manual at
any 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 it’s use, nor for any infringements of patents or
other rights of third parties resulting from it’s use.

Copyright
Copyright 2001 by ICP DAS. All right are reserved

Trademark
The names used for identification only maybe registered trademarks of
their respective companies.

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I-8091 User Manual Version 1.0 06/2001

I-8091

The I-8091 card is a 2-axis command-type stepping motor control card
on I-8000 platform, it also can be used as servo motor control (pulse input
type). This card has an embedded CPU which performs motion commands
transfered from I-8000 main system to increase the system performance. A
2Kbytes-FIFO is introduced as command buffer. This buffer can provide over
700ms buffer time.

A system including I-8000(main system), I-8091(2-axis stepping/servo
control card), I-8090(3-axis encoder card) can be implemented as a stand
along motion controller system for low cost automatical machine.

2-axis Stepping/Servo Motor Control Card

Features

I-8000 series.

!

2-axis independent, simultaneous stepping motor control / servo motor

!

control (pulse input type).

Maximum pulse rate: 1Mpps.

!

32

21

Maximum step counts:

!

DOS driver.

!

embedded CPU.

!

command type interface.

!

2-axis linear, 2-axis circular interpolation.

!

automatic trapezoidal acceleration / deceleration.

!

output pulse modes : CW/CCW or pulse/directi on.

!

output polarity can be programmable.

!

2500Vrms optical isolated signal output.

!

3 optical isolated digital inputs per axis for limit switches.

!

programmable limit switch initial condition as normal open(N.O.) or normal

!

close(N.C.).

−

steps.

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I-8091 User Manual Version 1.0 06/2001

I-8091 Contents _

1. Introduction 2-4

1.1 System Block Diagram 2-4

1.2 DDA technology 2-5

2. Hardware 2-8

2.1 I-8000 hardware address 2-8

2.2 Register of I-8091 board 2-9

2.3 LED indicator 2-10

2.4 Hardware configuration 2-11

2.4.1 Limit switch configuration 2-11

2.4.2 Output pulse mode configuration 2-12

2.4.3 Direction configuration 2-12

2.4.4 Turn Servo ON/OFF (Hold ON/OFF) 2-12

2.4.5 Automatic protection 2-12

2.4.6 Set limit switch as normal close condition 2-13

2.5 Connection 2-14

2.5.1 Pin assignment of connector CN2 2-14

2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD 2-15

2.5.3 The internal circuit of limit switch input 2-15

2.5.4 Example of connection 2-16

3. Software 2-18

3.1 Functions 2-18

3.1.1 Setting commands 2-20

3.1.2 Stop commands 2-24

3.1.3 Simple motion commands 2-25

3.1.4 Interpolation commands 2-30

3.1.5 Others 2-35

3.2 Start up and end of program 2-37

4. Example 2-39

4.1 Detect I-8091 card 2-39

4.2 Example: DEMO.cpp 2-40

4.3 Example: DEMO1.cpp 2-40

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I-8091 User Manual Version 1.0 06/2001

1. Introduction _

1.1 System Block Diagram

The I-8091 stepping motor control card is a micro-computer controlled, 2-axis
pulse generation card. It includes a 2Kbytes-FIFO to receive motion command
from host, a micro-computer for profile generation and protection, 2-axis DDA
chip to execute DDA function when interpolation command is used, 2500Vrms
optical isolation inserted for industrial application.

Bus

2K FIFO

Interface

Limit Switch
Input Port

CPU

Profil e G eneration

Protection

DDA Chip

X-axis

DDA Chip

Y-axis

Limit Switch
Input Port

Limit Switch Signal

Fig.(1) block diagram of I-8091 card

Optical
Isolation

Connector

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I-8091 User Manual Version 1.0 06/2001

1.2 DDA Technology

The DDA chip is the heart of I-8091 card, it will generate equal-space

pulse train corresponding to specific pulse number during a DDA period.
This mechanism is very useful to execute pulse generation and
interpolation function. The DDA period can be determined by DDA cycle.
Table(1) shows the relation among DDA cycle, DDA period and output
pulse rate. When DDA cycle set to 1, the DDA period is equal to
(1+1)x1.024ms = 2.048ms. The output pulse number can be set to 0~2047,
therefore the maximum output pulse rate will be 1Mpps. The minimum
output pulse rate is 3.83pps when set DDA cycle=254 (DDA period =
(254+1)x1.024ms = 261.12ms).

DDA period

DDA cycle

X pulse = 3

Y pulse = 6

Z pulse = 4

Fig.(2) DDA mechanism

Table(1) The Relation among DDA cycle, DDA period and output pulse rate.

DDA cycle DDA period Max. pulse

Min. pulse rate (n=1 )

rate(n=2047)
1 2.048ms 999511pps 488pps
2 3.072ms 666341pps 325pps

34.096ms . .

.. . .

N (N+1)*1.024ms 2047/(DDA period) 1/(DDA period)

.. . .

254 261.12ms 7839pps 3.83pps

The DDA cycle can be set by i8091_SET_VAR() command which decribed
in charpter 3. The selection criterion of DDA cycle was described as
following.

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I-8091 User Manual Version 1.0 06/2001

N

N

(1) The required max. output pulse rate.

PRmax = Vmax*N/60

2047

+

PRmax =

1 1 024()*.DDAcycle ms

PRmax : max. output pulse rate.
Vmax : max. speed (rpm).
N : the pulse number of stepping motor per revolution.
(pulse/rev).

2. The required speed resolution.
The maximum output pulse number is Np(0~2047), therefore
the speed resolution is Vmax(max. speed)/Np. The DDA cycle
can be obtained by following equation.

p

PRmax =

DDAcycle ms()*.

+

1 1 024

3. When choose large DDA cycle (DDA period), it will occur

vibration between different pulse input which generally can be
observed during acceleration or deceleration. So, the small
DDA cycle , the smooth acceleration/deceleration curve as long
as the speed resolution is acceptable.

Example: Stepping Motor

The specification of stepping motor is 500 pulse/rev, max. speed 500
rpm, speed resolution 2 rpm.
The required max. pulse rate

PRmax = 500 rpm*500/60 = 4166.67 pps

The maximum output pulse

Np = 500rpm/2rpm =250 pulse number

The DDA cycle can be calculated by follow equation

p

PRmax =

DDAcycle ms()*.

+

1 1 024

250

+

4166.67 =

1 1 024()*.DDAcycle ms

DDA cycle = 58

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I-8091 User Manual Version 1.0 06/2001

N

High Speed = 247 pulse (4166.67*58*0.001024)
The above results means that maximum speed is 500rpm when send
command i8091_SET_VAR(0, 58, 2, 2, 247) to I-8091 card.

Example: Pulse type input Servo Motor

The specification of servo motor is 8000 pulse/rev, max. speed 3000 rpm,
speed resolution 2 rpm.
The required max. pulse rate

PRmax = 3000 rpm*8000/60 = 400,000 pps
The maximum output pulse

Np = 3000rpm/2rpm =1500 pulse number
The DDA cycle can be calculated by follow equation

p

PRmax =

DDAcycle ms()*.

+

1 1 024

1500

+

400,000 =

1 1 024()*.DDAcycle ms

DDA cycle = 3

High Speed = 1638 pulse (400,000*4*0.001024)
The above results means that maximum speed is 3000rpm when send
command i8091_SET_VAR(0, 3, 2, 2, 1638) to I-8091 card.

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I-8091 User Manual Version 1.0 06/2001

2 Hardware _

2.1 I-8000 hardware address

The hardware address of I-8000 main system is fixed as following table.
There are 4 slots I-8000 and 8 slots I-8000.

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8
I-8000, 4 slot
address
I-8000, 8 slot
address

I-8000, 4 slots

I-8000, 8 slots

0x080 0x0A0 0x0C0 0x0E0 --- --- --- ---

0x080 0x0A0 0x0C0 0x0E0 0x140 0x160 0x180 0x1A0

Slot 1 Slot 2 Slot 3 Slot 4

88888

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8

88888

Fig.(3) I-8000 hardware address

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I-8091 User Manual Version 1.0 06/2001

2.2 Registers of I-8091 board

The I-8091 card’s registers table as following.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ID 0x00 R 0x0E
LIMIT1 0x01 R /EMG /FFFF /FFEF /LS14 /LS11 /ORG1
LIMIT2 0x02 R /YSTOP /XSTOP /LS24 /LS21 /ORG2
WRFF 0x01 W Command port
RSTFF 0x02 W Reset FIFO

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ID 0x00 R 0x0E

The ID register is read only and its value is fixed as 0x0E. User can check
this register to identify I-8091 card or not.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
LIMIT1 0x01 R /EMG /FFFF /FFEF /LS14 /LS11 /ORG1

/ORG1 : original point limit switch of X-axis.
/LS11, /LS14 : limit switches of X-axis, which must be configured as chapter

2.4.1.
/EMG : emergency switch.
/FFEF : active low, indicate FIFO is empty.
/FFFF : active low, indicate FIFO is full.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
LIMIT2 0x02 R /YSTOP /XSTOP /LS24 /LS21 /ORG2

/ORG2 : original point switch of Y-axis.
/LS21, /LS24 : limit switches of Y-axis, which must be configured as chapter

2.4.1.

/XSTOP, /YSTOP : These signals indicate the operating situation of X, Y axis

in CPU.
1 : busy, 0 : stop
The commands i8091_WAIT_X( ) and i8091_WAIT_Y( ) just to waiting for

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I-8091 User Manual Version 1.0 06/2001

'/XSTOP' or '/YSTOP' signal become to '0'.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
WRFF 0x01 W Command port

I-8091 driver will send motion command by way of this register. Please do not
use this register to write any thing, or I-8091 will not operate properly.

Register Add. R/W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
RSTFF 0x02 W Reset FIFO

This register is used to reset FIFO for clear all of commands pending in the
FIFO buffer.

2.3 LED Indicator

power

/ORG1

/LS11

/LS14 /ORG2 /LS21 /LS24

Fig.(4) I-8091 LED indicator

Where

/ORG1: X-axis’s original limit switch for machine home position.

/EMG

/LS11, /LS14 : X-axis’s negative and positive limit switches.
/ORG2: Y-axis’s original limit switch for machine home position.
/LS21, /LS24 : Y-axis’s negative and positive limit switches.
/EMG : system’s emergency signal input.

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I-8091 User Manual Version 1.0 06/2001

LS11

ORG1

LS14

CW/FW

CCW/BW

Motor

EXT_GND

/LS11

/LS14

/ORG1

/EMG

Emer gency

ccm

LS21

ORG2

LS24

CW/FW

CCW/BW

Motor

EXT_GND

/LS21

/LS24

/ORG2

ccm

2.4 Hardware Configuration

2.4.1 Limit switch configuration

Because the profile generation and protection is executed by the CPU
on I-8091 card, the limit switches must configure as following diagram.
The motion command just can work properly.

X axis

Fig.(5) Limit switch configuration of X axis

Y axis

Fig.(6) Limit switch configuration of Y axis

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I-8091 User Manual Version 1.0 06/2001

2.4.2 Output pulse mode configuration

I-8091 card provide two kind output method.

(a) CW/CCW mode

(b) Pulse/Direction mode
The command i8091_SET_MODE(cardNo, modeX, modeY) provide
parameters CW_CCW (0) and PULSE_DIR (1) to define output pulse
mode.

CW

Mode = 0 (CW_CCW)

CCW

Pulse

Mode = 1 (PULSE_DIR)

Direction

Fig.(7) Output pulse mode

2.4.3 Direction configuration

Sometimes, the output direction of X-axis, Y-axis is not in the
desired direction due to the motor’s connection or gear train. It is
recommended to unify the output direction as shown in Figure(5)(6). The
CW/FW direction is defined as toward outside from motor and the
CCW/BW direction is defined as toward inside to motor. The
i8091_SET_DEFDIR(cardNo, defdirX, defdirY) command provides
parameters NORMAL_DIR (0) and REVERSE_DIR (1) to define the
rotating direction of motor.

2.4.4 Turn Servo ON/OFF (Hold ON/OFF)

To turn servo motor into servo ON(OFF) state, or turn stepping motor
into hold ON(OFF) state, the command i8091_SET_SERVO_ON(cardNo,
sonX, sonY) provide parameters ON (1) and OFF (0) to turn ON or OFF.

2.4.5 Automatic protection

The I-8091 card has a automatic protected system.
(a) If X-aixs command is executing and moving toward CW/FW direction,

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I-8091 User Manual Version 1.0 06/2001

X-axis will immediately stop when LS14 is touched. To release this
protection as long as X-axis move toward CCW/BW direction.

(b) If X-aixs command is executing and moving toward CCW/BW

direction, X-axis will immediately stop when LS11 is touched. To
release this protection as long as X-axis move toward CW/FW
direction.

(c) If Y-aixs command is executing and moving toward CW/FW direction,

Y-axis will immediately stop when LS24 is touched. To release this
protection as long as Y-axis move toward CCW/BW direction.

(d) If Y-aixs command is executing and moving toward CCW/BW

direction, Y-axis will immediately stop when LS21 is touched. To
release this protection, as long as Y-axis move toward CW/FW
direction.

(e) If the signal of the emergency limit switch /EMG was found in CPU

firmware, all motion will be terminated and stop.

2.4.6 Set limit switch as normal close condition

The limit switches /EMG, /LS11, /LS14, /LS21, /LS24, /ORG1, /ORG2 is
initially normal open condition, that is, these signal is active when
connect it to ground. In industrial application, it might be recommended
normal close condition, that is, these signal is active when open from

ground.
The i8091_SET_NC(cardNo, sw) command can be set sw=0 (default), for
normal open condition. When set sw=1, for normal close condition.

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I-8091 User Manual Version 1.0 06/2001

2.5 Connection

2.5.1 Pin assignment of connector CN2

CN2
DB25M-90

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

CW_PULSE2

CCW_DIR2

HOLD2

ORG2

LS21

LS24

+5V

CW_PULSE1

CCW_DIR1

HOLD1

GND

EXT_VCC (12~24V)

ORG1

LS11

LS14
EMG

EXT_GND

Fig.(8) CN2 connector

Table of CN2 connector’s pin assignment

pin name pin

Description

number

+5V 1 Internal +5V power, Max. output current: 50mA

CW_PULSE1 2 X-axis CW (Pulse) output pin

CCW_DIR1 3 X-axis CCW (Direction) output pin

HOLD1 4 X-axis HOLD (servo on) output pin

GND 5 Signal ground of pin 2,3,4

EXT_VCC 6 External power(12~24V) for limit switches

/ORG1 7 X-axis original (home) limit switch

/LS11 8 X-axis limit switch

9,10 No used
/LS14 11 X-axis limit switch
/EMG 12 Emergency input

EXT_GND 13 External ground for limit switch

+5V 14 Internal +5V power, Max. output current: 50mA

CW_PULSE2 15 Y-axis CW (Pulse) output pin

CCW_DIR2 16 Y-axis CCW (Direction) output pin

HOLD2 17 Y-axis HOLD (servo on) output pin

GND 18 Signal ground of pin 15,16,17

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EXT_VCC 19 External power(12~24V) for limit switches

/ORG2 20 Y-axis original (home) limit switch

/LS21 21 Y-axis limit switch

22,23 No used

/LS24 24 Y-axis limit switch

EXT_GND 25 External ground for limit switch

2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD

When output these signal as 1, it can source 15mA(max.).
When output these signal as 0, it ca n sink 50mA(max.)

+5V

330

CW_PULSE1
CCW_DIR1
HOLD1

CW_PULSE2
CCW_DIR2
HOLD2

i8091

Fig.(9) internal circuit of pulse output pin

2.5.3 The internal circuit of limit switch input

Initially, the limit switch inputs of I-8091 board are normal open (N.O.),
the I-8091 board will automatic protect when limit switch pin connect
to EXT_GND. The user can use the command i8091_SET_NC
(cardNo, YES) to let those limit switch input as normal close condition
at the beginning of the user’s program.

EXT_VCC (12V~24V)

4.7K

/ORG1, /LS11, /LS14

/ORG2, /LS21, /LS24

i8091

/EMG

Fig.(10) internal circuit of limit switch input pin

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I-8091 User Manual Version 1.0 06/2001

2.5.4 Example of connection

+5V

1
3

1
3

1
3

6
5
4

6
5
4

6
5
4

DGND

+5V

+5V

CW_PULSE1

CCW_DIR1

HOLD1

GND

CW +
CW -

CCW +
CCW -

HOLD +
HOLD -

1 4
2 3

1 4
2 3

1 4
2 3

FAN-OUT TYPE (VEXTA) DRIVER

Fig.(11) fan-out type driver (VEXTA's motor driver)

+5V

1
3

6
5
4

CW_PULSE1

COM

CW/PULSE

1 4
2 3

+5V

1
3

1
3

6
5
4

6
5
4

DGND

+5V

CCW_DIR1

HOLD1

GND

CCW/DIR

HOLD

SINK TYPE DRIVER

1 4
2 3

1 4
2 3

Fig.(12) Sink type driver

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I-8091 User Manual Version 1.0 06/2001

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

CN2
DB25M-90

EXT_VCC

(12V~24V)

PHOME2

PLS21

PLS24

CW_PULSE1
CW_PULSE2
CCW_DIR1
CCW_DIR2

HOLD1
HOLD2

EXT_VCC

PHOME1

EXT_GND

PLS11

PLS14
PEMG

S5V

SGND

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9
22
10
23
11
24
12
25
13

CN2
DB25M-90

1A+
1A­1B+
1B­1C+
1C­E5V
EGND
2A+
2A­2B+
2B­2C+
2C­E5V
EGND
3A+
3A-

3B+
3B-

3C+
3C­E5V
EGND
EGND

S8090 cardS8091 card

Fig.(13) The connection between I-8090 and I-8091 for function testing or

pulse feedback by I-8090 encoder card.

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I-8091 User Manual Version 1.0 06/2001

3. Software _

User’s applications could be compiled under DOS Turbo/borland C/C++
environment. It should be include i8091.h and i8091.LIB to compile the target
execution file. The execution files can be downloaded under I-8000 main
system (execute 7188x.exe), and then run the target execution file as under
PC system. About the I-8000’s resource or environment, please refer to the
manual of I-8000 system or its software programming guide.

The following section will introduce the I-8091’s functions and examples.

3.1 Functions

Constants

#define i8091 0x0e
#define YES 1
#define NO 0
#define READY 0
#define BUSY 1
#define ON 1
#define OFF 0
#define CW_CCW 0
#define PULSE_DIR 1
#define NORMAL_DIR 0
#define REVERSE_DIR 1
#define FW 0
#define BW 1
#define CW 0
#define CCW 1
#define X_axis 1
#define Y_axis 2
#define Z_axis 3

I-8091 card is a automatic protected system.
(a)If X-aixs command is executing and moving toward CW/FW direction,

X-axis will immediately stop when LS14 is touched. To release this
protection as long as X-axis move toward CCW/BW direction.

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I-8091 User Manual Version 1.0 06/2001

(b)If X-aixs command is executing and moving toward CCW/BW

direction, X-axis will immediately stop when LS11 is touched. To
release this protection as long as X-axis move toward CW/FW
direction.

(c)If Y-aixs command is executing and moving toward CW/FW direction,

Y-axis will immediately stop when LS24 is touched. To release this
protection as long as Y-axis move toward CCW/BW direction.

(d) If Y-aixs command is executing and moving toward CCW/BW

direction, Y-axis will immediately stop when LS21 is touched. To
release this protection, as long as Y-axis move toward CW/FW
direction.

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I-8091 User Manual Version 1.0 06/2001

3.1.1 Setting commands

(1) unsigned char i8091_REGISTRATION(unsigned char cardNo,

unsigned int address);

In order to distinguish more than one I-8091 card in I-8000 platform, the
I-8091 cards should be registrated before using it. This command will
assign a card number=“cardNo” to I-8091 card address=”address” . If

there is not I-8091 at the given address, this command will return “NO”.
cardNo : board number 0~19.
address : select the address as well as hardware selected in chapter 2.1.

return NO

: board not exist

: board exist

YES

Example:

i8091_REGISTRATION(1, 0x080);

(2) i8091_RESET_SYSTEM( unsigned char cardNo )

To reset I-8091 card, this command will terminate the running command in
I-8091 card. User can use this command as software emergency stop.
i8091_RESET_SYSTEM command also will clear all of setting, so, all I­8091 card’s parameter should be set again.
cardNo : board number 0~19.

(3) i8091_SET_VAR(unsigned char cardNo,

unsigned char DDA_cycle,
unsigned char Acc_Dec,
unsigned int Low_Speed,
unsigned int High_Speed)

to set DDA cycle, accelerating/decelerating speed, low speed and high
speed value.
cardNo : board number 0~19.

High_Speed

Acc_Dec Acc_Dec

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Low_Speed

I-8091 User Manual Version 1.0 06/2001

Restriction:

1 254

≤≤

DDA cycle

_

1 200

≤≤

Acc Dec

_

≤≤

1 200

Low Speed

_

Low Speed High Speed

__

≤≤

2047

Low_Speed >= Acc_Dec

default value
DDA_cycle = 10
Acc_Dec = 1
Low_Speed = 10
High_Speed = 100

Example:

i8091_SET_VAR(1, 5, 2, 10, 150);

where

DDA_cycle = 5 --> DDA period = (5+1)*1.024ms = 6.144ms
Acc_Dec = 2 --> Acc/Dec speed = 2/(6.144ms)^2 = 52981 p/s^2
Low_Speed = 10 --> low speed = 10/6.144ms = 1628pps
High_Speed = 150 --> high speed = 150/6.144ms = 24414pps

(4) i8091_SET_DEFDIR(unsigned char cardNo,

unsigned char defdirX,
unsigned char defdirY)

Sometimes, the output direction of X-axis, Y-axis is undesired
direction due to the motor’s connection or gear train. In oder to unify the
output direction as shown in Fig.(5) and Fig.(6). Where CW/FW direction is
defined as toward outside from motor, CCW/BW direction is defined as
toward inside from motor. i8091_SET_DEFDIR( ) command provide
parameters to define the rotating direction of motor.
cardNo : board number 0~19.
defdirX : X axis direction definition
defdirY : Y axis direction definition

0 : NORMAL_DIR

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I-8091 User Manual Version 1.0 06/2001

1 : REVERSE_DIR

(5) i8091_SET_MODE(unsigned char cardNo,

unsigned char modeX,
unsigned char modeY)

I-8091 card provide two kind output method.

cardNo : board number 0~19.
modeX : X axis output mode
modeY : Y axis output mode

0 : CW_CCW CW/CCW mode
1 : PULSE_DIR Pulse/Direction mode

CW

Mode = 0 (CW_CCW)

CCW

Pulse

Mode = 1 (PULSE_DIR)

Direction

Example:

i8091_SET_MODE(1,CW_CCW, PULSE_DIR);

(6) i8091_SET_SERVO_ON(unsigned char cardNo,

unsigned char sonX, unsigned char sonY)

To turn servo motor into servo ON(OFF) state, or turn stepping motor into
hold ON(OFF) state.

cardNo : board number 0~19.
sonX : X axis servo/hold on switch
sonY : Y axis servo/hold on switch

1 : ON
0 : OFF

(7) i8091_SET_NC(unsigned char cardNo, unsigned char sw);

To set all of the following limit switches as N.C.(normal close) or
N.O.(normal open). If set as N.O., those limit switches are active low. If

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I-8091 User Manual Version 1.0 06/2001

set as N.C., those limit switches are active high. The auto-protection will
automatically change the judgement whatever it is N.O. or N.C..

Limit switches: ORG1, LS11, LS14, ORG2, LS21, LS24, EMG.

cardNo : card numbe r 0~19.
sw: 0(NO) normal open (default).
1(YES) normal close.

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I-8091 User Manual Version 1.0 06/2001

3.1.2 Stop Commands

(8) i8091_STOP_X(unsigned char cardNo)

to stop X axis.

cardNo : board number 0~19.

(9) i8091_STOP_Y(unsigned char cardNo)

to stop Y axis.

cardNo : board number 0~19.

(10) i8091_STOP_ALL(unsigned char cardNo)

to stop X, Y axis immediatly.

cardNo : board number 0~19.

This command will clear all of commands pending in the FIFO.
The i8091_RESET_SYSTEM can be used as software emergency stop.
The i8091_RESET_SYSTEM command will terminate the running
command and clear all of setting, so, all I-8091 card’s parameter should be
set again after call i8091_RESET_SYSTEM command.

(11) i8091_EMG_STOP(unsigned char cardNo);

This function is the same as i8091_STOP_ALL(), but i8091_ EMG_STOP()
only can be used in interrupt routine.
cardNo : card numbe r 0~19.

This command will clear all of commands pending in the FIFO.

The i8091_RESET_SYSTEM can be used as software emergency stop.
The i8091_RESET_SYSTEM command will terminate the running
command and clear all of setting, so, all I-8091 card’s parameter should be
set again after call i8091_RESET_SYSTEM command.

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I-8091 User Manual Version 1.0 06/2001

3.1.3 Simple motion commands

(12) i8091_LSP_ORG(unsigned char cardNo,

unsigned char DIR, unsigned char AXIS)

Low speed move , and stop when

ORG1/ORG2

limit switch is touched.

cardNo : board number 0~19.

ORG

Low speed

Example:

i8091_LSP_ORG(1, CCW, X_axis);
i8091_LSP_ORG(1, CCW, Y_axis);

(13) i8091_HSP_ORG(unsigned char cardNo, unsigned char DIR,

unsigned char AXIS)

High speed move , and stop when

ORG1/ORG2

limit switch is touched.

cardNo : board number 0~19.

ORG

high speed

Example:

i8091_HSP_ORG(1, CCW, X_axis);
i8091_HSP_ORG(1, CCW, Y_axis);

(14) i8091_LSP_PULSE_MOVE(unsigned char cardN o,

unsigned char AXIS, long pulseN)

Low speed move #pulseN

cardNo : board number 0~19.

#pulseN

Example:

i8091_LSP_PULSE_MOVE(1, X_axis, 20000);

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I-8091 User Manual Version 1.0 06/2001

i8091_LSP_PULSE_MOVE(1, X_axis, -2000);
i8091_LSP_PULSE_MOVE(1, Y_axis, 20000);
i8091_LSP_PULSE_MOVE(1, Y_axis, -2000);

where

when pulseN>0, move toward CW/FW direction
when pulseN<0, move toward CCW/BW direction

(15) i8091_HSP_PULSE_MOVE(unsigned char cardNo,

unsigned char AXIS, long pulseN)

High speed move #pulseN.

cardNo : board number 0~19.

high speed

#pulseN

Example:

i8091_HSP_PULSE_MOVE(1, X_axis, 20000);
i8091_HSP_PULSE_MOVE(1, X_axis, -2000);
i8091_HSP_PULSE_MOVE(1, Y_axis, 20000);
i8091_HSP_PULSE_MOVE(1, Y_axis, -2000);

where

when pulseN>0, move toward CW/FW direction
when pulseN<0, move toward CCW/BW direction

(16) i8091_LSP_MOVE(unsigned char cardNo,

unsigned char DIR, unsigned char AXIS)

Low speed move toward direction DIR. It can be stop by i8091_STOP_X
or i8091_STOP_Y or i8091_STOP_ALL command.

cardNo : board number 0~19.

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I-8091 User Manual Version 1.0 06/2001

Low speed

Example:

i8091_LSP_MOVE(1, CW, X_axis);
getch( );
i8091_STOP_X(1);
i8091_LSP_MOVE(1, CCW, Y_axis);
getch( );
i8091_STOP_Y(1);

(17) i8091_HSP_MOVE(unsigned char cardNo,

unsigned char DIR, unsigned char AXIS)

High speed move toward direction DIR. It can be stop by i8091_STOP_X
or i8091_STOP_Y or i8091_STOP_ALL command.

cardNo : board number 0~19.

high speed

Example:

i8091_HSP_MOVE(1, CW, X_axis);
getch( );
i8091_STOP_X(1);
i8091_HSP_MOVE(1, CCW, Y_axis);
getch( );
i8091_STOP_Y(1);

(18) i8091_CSP_MOVE(unsigned char cardNo, unsigned char dir,

unsigned char axis, unsigned int move_speed)

This command will accelerate/decelerate the selected axis’s mo tor to the
“move_speed”. This command can be continuously send to I-8091 to
dynamicly change speed. The rotating motor can be stop by the

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I-8091 User Manual Version 1.0 06/2001

command i8091_STOP_X(), i8091_STOP_Y(), i8091_STOP_ALL(), or
i8091_SLOW_STOP().
cardNo : board number 0~19.
axis : selected axis.

1 : X axis
2 : Y axis

dir : moving direction.

0 : CW
1 : CCW

0 < move_speed <= 2040

move speed

Acc_Dec

Example:

i8091_CSP_MOVE(1, CW, X_axis, 10);
delay(10000);
i8091_CSP_MOVE(1, CW, X_axis, 20);
delay(10000);
i8091_CSP_MOVE(1, CW, X_axis, 30);
delay(10000);

(19) i8091_SLOW_DOWN(unsigned char cardNo, unsigned char AXIS)

to decelerate to slow speed until i8091_STOP_X( ) or i8091_STOP_Y() or
i8091_STOP_ALL is executed.

SLOW_DOWN

Example:

i8091_HSP_MOVE(1, CW, X_axis);

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getch( );
i8091_SLOW_DOWN(1, X_axis);
getch( );
i8091_STOP_X(1);

(20) i8091_SLOW_STOP(unsigned char cardNo, unsigned char AXIS)

to decelerate to stop.

cardNo : board number 0~19.

SLOW_STOP

Example:

i8091_HSP_MOVE(1, CW, Y_axis);
getch( );
i8091_SLOW_STOP(1, Y_axis);

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3.1.4 Interpolation commands

(21) i8091_INTP_PULSE(unsigned char cardNo, int Xpulse, int Ypulse)

This command will move a short distan ce (interpolation short line) in X-Y
plane. This command provided a method for user to generate an arbitrary
curve in X-Y plane.

Y

Y

10

(Xpulse,Ypulse)

cardNo : board number 0~19.

Restriction:

−≤ ≤

2047 2047# Xpulse

−≤ ≤

2047 2047#Ypulse

Example:

i8091_INTP_PULSE(1,20,20);
i8091_INTP_PULSE(1,20,13);
i8091_INTP_PULSE(1,20,7);
i8091_INTP_PULSE(1,20,0);
i8091_INTP_PULSE(1,15,-5);

9

34

X

2

1

5

8

67

X

(22) i8091_INTP_LINE(unsigned char cardNo, long Xpulse, long Ypulse)

This command will move a long distance (interpolation line) in X-Y plane.
The CPU on I-8091 card will generate a trapezoidal speed profile of X-axis
and Y-axis, and execute interpolation by way of DDA chip.

Y

(Xpulse,Ypulse)

(0,0)

X

cardNo : board number 0~19.

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Restriction:

−≤ ≤

524287 524287# Xpulse

−≤ ≤

524287 524287#Ypulse

Example:

i8091_INTP_LINE(1,2000,-3000);
i8091_INTP_LINE(1,-500,200);

(23) i8091_INTP_LINE02(unsigned char cardNo, long x, long y
, unsigned int speed
, unsigned char acc_mode)

This command will move a long interpolation line in X-Y plane. Host will
automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The
parameters into the driver. User can directly call the

(i8091_INTP_STOP( ) !=READY)

to execute the computing entity.

i8091_INTP_LINE02()

do { } while

cardNo : board number 0~19.
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile

Y

(X,Y)

(0,0)

X

Example:

i8091_INTP_LINE02(CARD1,1000,1000,100,0);

only set

do { } while( i8091_INTP_STOP()!=READY) ; //call state machine

(24) i8091_INTP_CIRCLE02(unsigned char cardNo, long x, long y,
unsigned char dir, unsigned int speed,
unsigned char acc_mode)

This command will generate an interpolation circle in X-Y plane. Host will

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I-8091 User Manual Version 1.0 06/2001

automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The
set parameters into the driver. User can directly call the

(i8091_INTP_STOP( ) !=READY)

to execute the computing entity.

i8091_INTP_CIRCLE02()

do { } while

cardNo : board number 0~19.

x, y : center point of circle relate to present position.
dir : moving direction.

0 : CW

1 : CCW
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile

Y

CW

(X,Y)

only

X

CCW

where r adius = sqr t(X^2 + Y^2)

Example:

i8091_INTP_CIRCLE02(CARD1,2000,2000,100,0);

do { } while( i8091_INTP_STOP()!=READY) ; //call state machine

(25) i8091_INTP_ARC02(unsigned char cardNo, long x, long y, long R,
unsigned char dir, unsigned int speed,
unsigned char acc_mode)

This command will generate an interpolation arc in X-Y plane. Host will
automaticly generate a trapezoidal speed profile of X-axis and Y-axis by
state-machine-type calculation method. The

i8091_INTP_ARC02()

parameters into the driver. User can directly call the

do { } while

only set

(i8091_INTP_STOP( ) !=READY)

to execute the computing entity.

cardNo : board number 0~19.

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x, y : end point of arc relate to present position.
R : radius of arc.

if R>0 , the arc < 180degree

if R<0 , the arc > 180 degree

dir : moving direction.

0 : CW

1 : CCW

R dir path of curve
R>0 CW 'B'
R>0 CCW 'C'
R<0 CW 'A'
R<0 CCW 'D'

speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile

'A'

CW

Y

'B'

CW

CCW

(X,Y)

'C'

'D'

X

CCW

Restriction:

32 32

−+≤≤−21 21

32 32

−+≤≤ −21 21

32 32

−+≤≤−

21 21

≥

R

#x
# y

#R

22

+

xy

2

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I-8091 User Manual Version 1.0 06/2001

Example:

i8091_INTP_ ARC02(1,2000,-2000,2000,CW,100,0);

do { } while( i8091_INTP_STOP()!=READY) ; //call state machine

(26) unsigned char i8091_INTP_STOP()

The above 3 state-machine-type interpolation commands

i8091_INTP_LINE02(), i8091_INTP_CIRCLE02()
i8091_INTP_ARC02()

must use

i8091_INTP_STOP()

and

simultaneously. The
state-machine-type interpolation commands are only set parameters into
the driver. The computing entity is in

i8091_INTP_STOP().

This command will compute the interpolation profile. It will return
READY(0) for interpolation command completed. And retrun BUSY(1) for
not yet complete.

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I-8091 User Manual Version 1.0 06/2001

3.1.5 Others

(27) unsigned char i8091_LIMIT_X(unsigned char cardNo)

to request the condition of X-axis limit switches

cardNo : board number 0~19.

MSB 7 6 5 4 3 2 1 0 LSB

/EMG /FFFF /FFEF /LS14 xx xx /LS11 /ORG1

/ORG1 : original point switch of X-axis, low active.
/LS11, /LS14 : limit switches of X-axis, low active, which must be

configured as Fig.(5).
/EMG : emergency switch, low active.
/FFEF : active low, FIFO is empty
/FFFF : active low, FIFO is full

Example:

unsigned char limit1;
limit1 = i8091_LIMIT_X(1);

(28) unsigned char i8091_LIMIT_Y(unsigned char cardNo)

to request the condition of Y-axis limit switches

cardNo : board number 0~19.

MSB 7 6 5 4 3 2 1 0 LSB

ystop xstop xx /LS24 xx xx /LS21 /ORG2

/ORG2 : original point switch of Y-axis, low active.
/LS21, /LS24 : limit switches of Y-axis, low active, which must be

configured as Fig.(6).
xstop: 1:indicate X-axis is stop
ystop: 1:indicate Y-axis is stop

Example:

unsigned char limit2;
limit2 = i8091_LIMIT_Y(1);

(29) i8091_WAIT_X(unsigned char cardNo)

to wait X-axis going to STOP state.
cardNo : board number 0~19.

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(30) i8091_WAIT_Y(unsigned char cardNo)

to wait Y-axis going to STOP state.
cardNo : board number 0~19.

(31) unsigned char i8091_IS_X_STOP(unsigned char cardNo)

To check whether X axis is STOP or not.

Return value

0 (NO) : not yet stop
1 (YES) : stop

(32) unsigned char i8091_IS_Y_STOP(unsigned char cardNo)

To check whether Y axis is STOP or not.

Return value

0 (NO) : not yet stop
1 (YES) : stop

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I-8091 User Manual Version 1.0 06/2001

3.2 Start up and end of program

Start up program

When you are going to use I- 8091 card, the r e are some comma nds must
be implement in previous.

i8091_REGISTRATION(CARD1,0x80)

set CARD1 address, (where CARD1=1)

i8091_RESET_SYSTEM(CARD1);

reset system

i8091_SET_VAR(CARD1, DDA, AD, LSP, HSP);

set DDA cycle, accelerating/decelerating speed, low speed and high
speed value

i8091_SET_DEFDIR(CARD1, xdir, ydir);

define direction.

i8091_SET_MODE(CARD1, xmode, ymode);

define output mode.

i8091_SET_SERVO_ON(CARD1, xson, yson);

set servo ON/OFF.
define output mode.

i8091_SET_NC(CARD1, nc);

To config limit switch as N.C. or N.O.

end of program

i8091_RESET_SYSTEM(CARD1);

To reset system

Example

//-----------------------------------------------------------------------------

­#define CARD1 1
typedef struct {
int address;
unsigned char DDA,AD;
unsigned int LSP,HSP;
unsigned char xmode,ymode;
unsigned char xdir,ydir;
unsigned char xson,yson;
unsigned char NCmode;

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I-8091 User Manual Version 1.0 06/2001

} i8091CardType;
i8091CardType card1;
//------------------------------------------------------------------------­void main ()
{
card1.address=PortAddress[i8091Slot];
card1.DDA = 10;
card1.AD = 5;
card1.LSP = 5;
card1.HSP = 100;
card1.xmode = CW_CCW;
card1.ymode = CW_CCW;
card1.xdir = NORMAL_DIR;
card1.ydir = NORMAL_DIR;
card1.xson = ON;
card1.yson = ON;
card1.NCmode= OFF;
i8091_REGISTRATION(CARD1, card1.address);
i8091_RESET_SYSTEM(CARD1);
i8091_SET_VAR(CARD1, card1.DDA, card1.AD, card1.LSP, card1.HSP);
i8091_SET_DEFDIR(CARD1, card1.xdir, card1.ydir);
i8091_SET_MODE(CARD1, card1.xmode, card1.ymode);
i8091_SET_SERVO_ON(CARD1, card1.xson, card1.yson);
i8091_SET_NC(CARD1, card1.NCmode);
Delay(100);

.

.
//--- end of program ---------------------------­ i8091_RESET_SYSTEM(CARD1);
}

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4. Example

4.1 Detect I-8091 card

//--------------------------------------------------­// detect i8090,i8091,i8092 card
//--------------------------------------------------­#include "8000.h"
#include "s8090.h"

#define i8090 0x0d
#define i8091 0x0e
#define i8092 0x0f
#define NOCARD 0x00
#define MAX_SLOT_NO 8
unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160,
0x180, 0x1a0};
//--------------------------------------------------­void main ()
{
unsigned char slot,temp;

for (slot=0; slot<MAX_SLOT_NO; slot++)
{
temp=inportb(PortAddress[slot]);
switch (temp)
{
case i8090: //i8090 3-axis encoder card

Print("Slot %d = i8090\r\n",SlotNum);
return i8090;

case i8091: //i8091 2-axis stepping card

Print("Slot %d = i8091\r\n",SlotNum);
return i8091;

case i8092: //i8092

Print("Slot %d = i8092\r\n",SlotNum);

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I-8091 User Manual Version 1.0 06/2001

return i8092;

default:

Print("Slot %d = No Card\r\n",SlotNum);

return NOCARD;
};
Delay(500);
};
}

4.2 Example: DEMO.cpp

//--------------------------------------------------------------------------­// demo.cpp for I-8091 card
//
// This program can test all of following command
// ----------------------I-8091 testing kit----------------------------------­// (0)Exit (A)i8091_IS_X_STOP (K)i8091_CSP_MOVE
// (1)i8091_RESET_SYSTEM (B)i8091_IS_Y_STOP (L)i8091_SLOW_DOWN
// (2)i8091_SET_VAR (C)i8091_LIMIT_X (M)i8091_SLOW_STOP
// (3)i8091_SET_DEFDIR (D)i8091_LIMIT_Y (N)i8091_INTP_PULSE
// (4)i8091_SET_MODE (E)i8091_LSP_ORG (O)i8091_INTP_LINE
// (5)i8091_SET_SERVO_ON (F)i8091_HSP_ORG (P)i8091_INTP_LINE02
// (6)i8091_SET_NC (G)i8091_LSP_PULSE_MOVE (Q)i8091_CIRCLE02
// (7)i8091_STOP_X (H)i8091_HSP_PULSE_MOVE (R)i8091_ARC02
// (8)i8091_STOP_Y (I)i8091_LSP_MOVE (S)User Define Testing
// (9)i8091_STOP_ALL (J)i8091_HSP_MOVE
//
// The output pulse amount can be monitored from i8090 card. When directly
// connect the CW/PULSE, CCW/DIR of i8091 to i8090. The encoder value
// can be shown on the LED display. Its format as following.
// ex: 0.2 1 2 8 : X-axis encoder value
// 5 3.4 0 2 : Y-axis encoder value
// 1 0 0.1 0 : Z-axis encoder value
// the dot(.) stands for which axis.
//--------------------------------------------------------------------

4.3 Example:DEMO1.cpp

//-------------------------------------------------------------------­// demo1.cpp for I-8091 card
//
// This a simple program to test I-8091 command
// i8091_INTP_LINE()
// i8091_INTP_LINE02()
//--------------------------------------------------------------------

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