Keithley 5312B Service manual

Technical Reference

Model 5312B

Technical Reference

64970 Rev. F / 7-98

WARRANTY

Hardware

Keithley Instruments, Inc. warrants that, for a period of one (1) year from the date of shipment (3 years for Models 2000, 2001, 2002, and 2010), the Keithley Hardware product will be free from defects in materials or workmanship. This warranty will be honored provided the defect has not been caused by use of the Keithley Hardware not in accordance with the instructions for the product. This warranty shall be null and void upon: (1) any modiﬁcation of Keithley Hardware that is made by other than Keithley and not approved in writing by Keithley or (2) operation of the Keithley Hardware outside of the environmental speciﬁcations therefore.

Upon receiving notiﬁcation of a defect in the Keithley Hardware during the warranty period, Keithley will, at its option, either repair or replace such Keithley Hardware. During the ﬁrst ninety days of the warranty period, Keithley will, at its option, supply the necessary on site labor to return the product to the condition prior to the notiﬁcation of a defect. Failure to notify Keithley of a defect during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Hardware

The portion of the product that is not manufactured by Keithley (Other Hardware) shall not be covered by this w arranty, and Keithley shall hav e no duty of obligation to enforce any manufacturers' warranties on behalf of the customer. On those other manufacturers’ products that Keithley purchases for resale, Keithley shall have no duty of obligation to enforce any manufacturers’ warranties on behalf of the customer.

Software

Keithley warrants that for a period of one (1) year from date of shipment, the Keithle y produced portion of the software or ﬁrmw are (Keithley Software) will conform in all material respects with the published speciﬁcations provided such Keithley Software is used on the product for which it is intended and otherwise in accordance with the instructions therefore. Keithley does not warrant that operation of the Keithley Softw are will be uninterrupted or error-free and/or that the Keithley Software will be adequate for the customer's intended application and/or use. This warranty shall be null and v oid upon an y modiﬁcation of the K eithle y Software that is made by other than Keithley and not approved in writing by Keithley.

If Keithley receiv es notiﬁcation of a K eithle y Software nonconformity that is co v ered by this warranty during the w arranty period, K eithle y will review the conditions described in such notice. Such notice must state the published speciﬁcation(s) to which the Keithley Software fails to conform and the manner in which the Keithley Software fails to conform to such published speciﬁcation(s) with sufﬁcient speciﬁcity to permit K eithle y to correct such nonconformity. If Keithley determines that the Keithley Software does not conform with the published speciﬁcations, Keithley will, at its option, provide either the programming services necessary to correct such nonconformity or develop a program change to bypass such nonconformity in the Keithley Software. Failure to notify Keithley of a nonconformity during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Software

OEM software that is not produced by Keithley (Other Software) shall not be covered by this w arranty, and Keithley shall hav e no duty or obligation to enforce any OEM's warranties on behalf of the customer.

Other Items

Keithley warrants the following items for 90 days from the date of shipment: probes, cables, rechar geable batteries, diskettes, and documentation.

Items not Covered under Warranty

This warranty does not apply to fuses, non-rechargeable batteries, damage from battery leakage, or problems arising from normal wear or failure to follow instructions.

Limitation of Warranty

This warranty does not apply to defects resulting from product modiﬁcation made by Purchaser without Keithley's express written consent, or by misuse of any product or part.

Disclaimer of Warranties

EXCEPT FOR THE EXPRESS WARRANTIES ABOVE KEITHLEY DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMIT ATION, ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A P ARTICULAR PURPOSE. KEITHLEY DISCLAIMS ALL WARRANTIES WITH RESPECT TO THE OTHER HARDWARE AND OTHER SOFTWARE.

Limitation of Liability

KEITHLEY INSTRUMENTS SHALL IN NO EVENT, REGARDLESS OF CAUSE, ASSUME RESPONSIBILITY FOR OR BE LIABLE FOR: (1) ECONOMICAL, INCIDENTAL, CONSEQUENTIAL, INDIRECT, SPECIAL, PUNITIVE OR EXEMPLARY DAMAGES, WHETHER CLAIMED UNDER CONTRACT, TORT OR ANY OTHER LEGAL THEORY, (2) LOSS OF OR DAMAGE TO THE CUSTOMER'S DATA OR PROGRAMMING, OR (3) PENAL TIES OR PENALTY CLAUSES OF ANY DESCRIPTION OR INDEMNIFICATION OF THE CUST OMER OR O THERS FOR COSTS, DAMAGES, OR EXPENSES RELATED TO THE GOODS OR SERVICES PROVIDED UNDER THIS WARRANTY.

Keithley Instruments, Inc. • 28775 Aurora Road • Cleveland, OH 44139 • 440-248-0400 • Fax: 440-248-6168 • http://www.keithley.com

CHINA: Keithley Instruments China • Yuan Chen Xin Building, Room 705 • 12 Yumin Road, Dewai, Madian • Beijing 100029 • 8610-62022886 • Fax: 8610-62022892 FRANCE: Keithley Instruments SARL • BP 60 • 3 Allée des Garays • 91122 Palaiseau Cédex • 33-1-60-11-51-55 • Fax: 33-1-60-11-77-26 GERMANY: Keithley Instruments GmbH • Landsberger Strasse 65 • D-82110 Germering, Munich • 49-89-8493070 • Fax: 49-89-84930759 GREAT BRITAIN: Keithley Instruments, Ltd. • The Minster • 58 Portman Road • Reading, Berkshire RG30 1EA • 44-1189-596469 • Fax: 44-1189-575666 ITALY: Keithley Instruments SRL • Viale S. Gimignano 38 • 20146 Milano • 39-2-48303008 • Fax: 39-2-48302274 NETHERLANDS: Keithley Instruments BV • Avelingen West 49 • 4202 MS Gorinchem • 31-(0)183-635333 • Fax: 31-(0)183-630821 SWITZERLAND: Keithley Instruments SA • Kriesbachstrasse 4 • 8600 Dübendorf • 41-1-8219444 • Fax: 41-1-8203081 TAIWAN: Keithley Instruments Taiwan • 1FL., 85 Po Ai Street • Hsinchu, Taiwan • 886-3-572-9077 • Fax: 886-3-572-9031

Model 5312B

Technical Reference

Cleveland, Ohio, U.S.A.

Second Printing, July 1998

Document Number: 64970 Rev. F

Manual Print History

The print history shown below lists the printing dates of all Revisions and Addenda created for this manual. The Revision Level letter increases alphabetically as the manual undergoes subsequent updates. Addenda, which are released between Revisions, contain important change information that the user should incorporate immediately into the manual. Addenda are numbered sequentially. When a new Revision is created, all Addenda associated with the previous Revision of the manual are incorporated into the new Revision of the manual. Each new Revision includes a revised copy of this print history page.

Revision E (Document Number 64970) ............................................................................................. January 1996

Revision F (Document Number 64970) ................................................................................................... July 1998

All Keithley product names are trademarks or registered trademarks of Keithley Instruments, Inc. Other brand and product names are trademarks or registered trademarks of their respective holders.

Safety Precautions

The following safety precautions should be observed before using this product and any associated instrumentation. Although some instruments and accessories would normally be used with non-hazardous voltages, there are situations where hazardous conditions may be present.

This product is intended for use by qualiﬁed personnel who recognize shock hazards and are familiar with the safety precautions required to avoid possible injury. Read the operating information carefully before using the product.

The types of product users are:

Responsible body is the individual or group responsible for the use

and maintenance of equipment, and for ensuring that operators are adequately trained.

Operators use the product for its intended function. They must be

trained in electrical safety procedures and proper use of the instrument. They must be protected from electric shock and contact with hazardous live circuits.

Maintenance personnel perform routine procedures on the product

to keep it operating, for example, setting the line voltage or replacing consumable materials. Maintenance procedures are described in the manual. The procedures explicitly state if the operator may perform them. Otherwise, they should be performed only by service personnel.

Service personnel are trained to work on live circuits, and perform

safe installations and repairs of products. Only properly trained service personnel may perform installation and service procedures.

Exercise extreme caution when a shock hazard is present. Lethal voltage may be present on cable connector jacks or test ﬁxtures. The American National Standards Institute (ANSI) states that a shock hazard exists when voltage levels greater than 30V RMS, 42.4V peak, or 60VDC are present. A good safety practice is to expect

that hazardous voltage is present in any unknown circuit bef ore measuring.

Users of this product must be protected from electric shock at all times. The responsible body must ensure that users are prevented access and/or insulated from every connection point. In some cases, connections must be exposed to potential human contact. Product users in these circumstances must be trained to protect themselves from the risk of electric shock. If the circuit is capable of operating at or above 1000 volts, no conductive part of the circuit may be

exposed.

As described in the International Electrotechnical Commission (IEC) Standard IEC 664, digital multimeter measuring circuits (e.g., Keithley Models 175A, 199, 2000, 2001, 2002, and 2010) are Installation Category II. All other instruments’ signal terminals are Installation Category I and must not be connected to mains.

Do not connect switching cards directly to unlimited power circuits. They are intended to be used with impedance limited sources. NEVER connect switching cards directly to AC mains. When connecting sources to switching cards, install protective devices to limit fault current and voltage to the card.

Before operating an instrument, make sure the line cord is connected to a properly grounded power receptacle. Inspect the connecting cables, test leads, and jumpers for possible wear, cracks, or breaks before each use.

For maximum safety, do not touch the product, test cables, or any other instruments while power is applied to the circuit under test. ALWAYS remove power from the entire test system and discharge any capacitors before: connecting or disconnecting cables or jumpers, installing or removing switching cards, or making internal changes, such as installing or removing jumpers.

Do not touch any object that could provide a current path to the common side of the circuit under test or power line (earth) ground. Always make measurements with dry hands while standing on a dry, insulated surface capable of withstanding the voltage being measured.

Do not exceed the maximum signal levels of the instruments and accessories, as deﬁned in the speciﬁcations and operating information, and as shown on the instrument or test ﬁxture panels, or switching card.

When fuses are used in a product, replace with same type and rating for continued protection against ﬁre hazard.

Chassis connections must only be used as shield connections for measuring circuits, NOT as safety earth ground connections.

If you are using a test ﬁxture, keep the lid closed while power is applied to the device under test. Safe operation requires the use of a lid interlock.

If a screw is present, connect it to safety earth ground using the wire recommended in the user documentation.

The symbol on an instrument indicates that the user should refer to the operating instructions located in the manual.

The symbol on an instrument shows that it can source or measure 1000 volts or more, including the combined effect of normal and common mode voltages. Use standard safety precautions to avoid personal contact with these voltages.

The WARNING heading in a manual explains dangers that might result in personal injury or death. Alw ays read the associated infor mation very carefully before performing the indicated procedure.

Instrumentation and accessories shall not be connected to humans.

Before performing any maintenance, disconnect the line cord and all test cables.

To maintain protection from electric shock and ﬁre, replacement components in mains circuits, including the power transformer, test leads, and input jacks, must be purchased from Keithley Instruments. Standard fuses, with applicable national safety approvals, may be used if the rating and type are the same. Other components that are not safety related may be purchased from other suppliers as long as they are equivalent to the original component. (Note that selected parts should be purchased only through Keithley Instruments to maintain accuracy and functionality of the product.) If you are unsure about the applicability of a replacement component, call technical support for information.

To clean the instrument, use a damp cloth or mild, water based cleaner. Clean the exterior of the instrument only. Do not apply cleaner directly to the instrument or allow liquids to enter or spill on the instrument.

The CAUTION heading in a manual explains hazards that could damage the instrument. Such damage may invalidate the warranty.

About this manual

Quality control

Keithley Instruments manufactures quality and versatile products, and we want our documentation to reﬂect that same quality. We take great pains to publish manuals that are informative and well organized. We also strive to make our documentation easy to understand for the novice as well as the expert.

If you have comments or suggestions about how to mak e this (or other) manuals easier to understand, or if you ﬁnd an error or an omission, please ﬁll out and mail the reader response card at the end of this manual (postage is prepaid).

Conventions

Procedural

Keithley Instruments uses various conventions throughout this manual. You should become familiar with these conventions as they are used to draw attention to items of importance and items that will generally assist you in understanding a particular area.

WARNING

CAUTION

NOTE

When referring to pin numbering, pin 1 is always associated with a square solder pad on the actual component footprint.

A warning is used to indicate that an action must be done with great care. Otherwise, personal injury may result.

A caution is used to indicate that an action may cause minor equipment damage or the loss of data if not performed carefully.

A note is used to indicate important information needed to perform an action or information that is nice-to-know.

Notational

A forward slash (/) preceding a signal name denotes an active LOW signal. This is a standard Intel convention.

Caret brackets (<>) denote keystrokes. For instance <Enter> represents carriage-return-withline-feed keystroke, and <Esc> represents an escape keystroke.

Driver routine declarations are shown for C and BASIC (where applicable). Hungarian notation is used for software parameters. In other words, the parameter type is

denoted by a one or two letter lower case preﬁx:

c character, signed or unsigned s short integer, signed

w short integer, unsigned

l long integer, signed

dw long integer, unsigned

For example, wBoardAddr would be an unsigned short integer parameter.

An additional p preﬁx before the type preﬁx indicates that the parameter is being passed by reference instead of by value. (A pointer to the variable is being passed instead of the variable itself).

For example, pwErr would be an unsigned short integer parameter passed by reference. This notation is also used in BASIC although no distinction between signed and unsigned vari-

ables exists. In BASIC, all parameters also have a type sufﬁx:

$ character, signed or unsigned % integer, signed or unsigned & long integer, signed or unsigned

Routine names are printed in bold font when they appear outside of function declarations, e.g., ReadStatus.

Parameter names are printed in italics when they appear outside of function declarations, e.g. sControls.

Constants are deﬁned with all caps, e.g., ALL_AXES. Underscores {_} must be replaced by periods {.} for use with BASIC.

Combinational logic and hexadecimal notation is in C convention in many cases. For example, the hexadecimal number 7Ch is shown as 0x7C.

C relational operators for OR and AND functions — “| |” and “&&” — are used to minimize the confusion associated with grammar.

Table of Contents

1 Introduction and Installation

Description ......................................................................................................................................................... 1-2

Technical Specifications .................................................................................................................................... 1-3

Setting the jumpers ............................................................................................................................................. 1-3

Base adddressing ........................................................................................................................................ 1-4

Indirect addressing ..................................................................................................................................... 1-5

Termination resistors .................................................................................................................................. 1-6

Selecting an index option ........................................................................................................................... 1-8

Selecting the card configuration ................................................................................................................. 1-9

Interrupt selection .................................................................................................................................... 1-10

Wait states ................................................................................................................................................ 1-11

Installation ........................................................................................................................................................ 1-11

Power considerations ............................................................................................................................... 1-12

Connector pinouts .................................................................................................................................... 1-13

2 Operation and Programming

Theory of operation ............................................................................................................................................ 2-2

Programming ...................................................................................................................................................... 2-2

Writing the Preset Register (PR) ................................................................................................................ 2-2

Reading the Output Latch register (OL) .................................................................................................... 2-3

Writing the Command Register (CR) ........................................................................................................ 2-3

Master Control Register (MCR) ................................................................................................................ 2-3

Input Control Register (ICR) ..................................................................................................................... 2-4

Output/Counter Control Register (OCCR) ................................................................................................. 2-4

Quadrature Register (QR) .......................................................................................................................... 2-5

Output Status Register (OSR) .................................................................................................................... 2-6

Typical programming examples ................................................................................................................. 2-6

Selecting a sample clock frequency ........................................................................................................... 2-8

3 Interrupt Control

Description of interrupt control ......................................................................................................................... 3-2

Interrupt Request Rgtr (IRR), In Service Rgtr (ISR) ................................................................................. 3-2

Priority Resolver (PR) ................................................................................................................................ 3-3

Interrupt Mask Register (IMR) ................................................................................................................... 3-3

Interrupt output (INT) ................................................................................................................................. 3-3

PIC operation ...................................................................................................................................................... 3-3

Interrupt sequence, 80x86/80x88 mode ..................................................................................................... 3-3

End-of-interrupt command ......................................................................................................................... 3-4

Completing an interrupt .............................................................................................................................. 3-4

Operating modes ................................................................................................................................................. 3-4

Fully nested mode ....................................................................................................................................... 3-4

Special mask mode ..................................................................................................................................... 3-5

Specific rotation (specific priority) ............................................................................................................ 3-5

Automatic rotation (equal priority) ............................................................................................................ 3-5

Non-vectored mode (poll command) .......................................................................................................... 3-5

PIC programming ............................................................................................................................................... 3-5

Initialization Command Words (ICW) ....................................................................................................... 3-5

ICW1 format and description ..................................................................................................................... 3-6

ICW4 format and description ..................................................................................................................... 3-7

Operation Command Words (OCW) .......................................................................................................... 3-7

OCW1 format and description .................................................................................................................... 3-8

OCW2 format and description .................................................................................................................... 3-9

OCW2 commands ...................................................................................................................................... 3-9

OCW3 format and description .................................................................................................................... 3-9

A PC I/O and Interrupt Mapping

PC I/O map ........................................................................................................................................................ A-2

B T ech Bulletins and Application Notes

Timer application in velocity mode ................................................................................................................... B-2

Setting up axis 3 as an interval timer ................................................................................................................. B-2

C Circuit Diagrams

List of Illustrations

1 Introduction and Installation

Figure 1-1 Functional block diagram for the 5312 ...................................................................................................... 1-2

Figure 1-2 Jumper locations for the 5312 .................................................................................................................... 1-4

Figure 1-3 Encoder termination resistor locations ....................................................................................................... 1-7

Figure 1-4 LED locations on the card edge ................................................................................................................. 1-7

Figure 1-5 Connector locations on the board ............................................................................................................. 1-12

2 Operation and Programming

Figure 2-1 Example of a 4-stage signal conditioning filter ......................................................................................... 2-8

3 Interrupt Control

Figure 3-1 PIC block level diagram ............................................................................................................................. 3-2

Figure 3-2 PIC initialization sequence ......................................................................................................................... 3-5

Figure 3-3 PIC ICW format ......................................................................................................................................... 3-6

Figure 3-4 PIC OCW format ....................................................................................................................................... 3-8

iii

List of Tables

1 Introduction and Installation

Table 1-1 W19, base address select (upper nibble) .................................................................................................... 1-4

Table 1-2 5312 I/O map ............................................................................................................................................. 1-5

Table 1-3 Termination resistors in differential mode.................................................................................................. 1-6

Table 1-4 Terminal resistors in single-ended mode ................................................................................................... 1-6

Table 1-5 Index option selections ............................................................................................................................... 1-8

Table 1-6 Jumper selection for differential/single-ended operation ........................................................................... 1-9

Table 1-7 Sample clock frequency jumper settings .................................................................................................... 1-9

Table 1-8 Cascading the counters ............................................................................................................................. 1-10

Table 1-9 Jumpering for disabling/enabling borrow interrupts ................................................................................ 1-10

Table 1-10 Selecting an interrupt ............................................................................................................................... 1-10

Table 1-11 Generating wait states .............................................................................................................................. 1-11

Table 1-12 Connector J1-J4 pin assignments ............................................................................................................. 1-13

Table 1-13 Default jumper settings for all board versions ......................................................................................... 1-14

2 Operation and Programming

Table 2-1 Register select ............................................................................................................................................ 2-3

Table 2-2 Output/counter control modes .................................................................................................................... 2-5

Table 2-3 Quadrature register modes ......................................................................................................................... 2-5

3 Interrupt Control

Table 3-1 Interrupt code ............................................................................................................................................. 3-4

A PC I/O Map

Table A-1 PC I/O map ................................................................................................................................................ A-2

Table A-2 PC interrupt map ....................................................................................................................................... A-3

Introduction and Installation

1-2 Introduction and Installation Model 5312B Technical Reference

Description

NOTE

The 5312 Quadrature Encoder card is PC bus compatible. It provides inputs and decoding for up to four incremental quadrature encoders depending on the model purchased. You may also use the card as a high-speed pulse counter (up/down and pulse/direction) for general counting applications. Figure 1-1 shows a functional block diagram.

Figure 1-1

Functional block diagram for the 5312

This manual is model dependent. For models not using all encoder ports, disregard the appropriate upper axis.

For each encoder circuit, Phase A (Phase 0), Phase B (Phase 90), and Inde x pulse inputs are provided. Jumper options on board allow you to conﬁgure the inputs as single-ended TTL or dif fer ential (the recommended connection method). Individual connectors for each encoder provide power (+5V) and ground for the encoder if needed.

You can also use the 5312 as pulse counter for up to 4 independent events, or you can cascade the counters to provide high speed pulse counting over an extended count range.

Inputs are conditioned by a 4-stage digital ﬁlter. The ﬁlter clock is one of ﬁve jumper -selectable sampling frequencies ranging up to 10 MHz. Selecting the lowest frequency compatible with the highest expected input rate will maximize noise immunity. The maximum input rate per phase in quadrature decode mode is approximately 333 kHz. The maximum input rate in count mode is approximately 1.25 MHz. Sample clock frequency selection is described in detail in Section 2.

The conditioned inputs are applied to a 24-bit counter provided for each encoder. You can use the counters for quadrature decoding, pulse and direction input counting, or as a pulse input up/ down counter. Count output is available for the PC bus in binary or binary coded decimal (BCD) form. The count value may be latched on command, latched on an index pulse, or latched with a new count value when an index pulse occurs.

Model 5312B Technical Reference Introduction and Installation 1-3

The 5312 is capable of generating interrupts. Maskable interrupts may come from a valid index pulse, counter overﬂow/underﬂow, or on count value match with a preset compare value.

T echnical speciﬁcations

Voltage Requirements: 4-axis: 1.5A (typical), 2.0A (maximum)

3-axis: 1.25A (typical), 1.75A (maximum) 2-axis: 1.0A (typical), 1.5A (maximum) 1-axis: 0.9A (typical), 1.25A (maximum)

Compatibility : PC/XT/AT

Single-ended or Differential Incremental Encoders TTL or CMOS Signal Sources

Operating Range: 0 to 70 degrees Celsius

Mating Connectors:

Card Dimensions: 13.3 x 4.2 x 0.5 inches

Setting the jumpers

CAUTION Always remove power from the PC and any external system

Jumper options on the 5312 offer a great deal of ﬂexibility in system operation. These options are grouped into 4 areas according to functions — encoder inputs, card functions, interrupt action, and card addressing.

All cards are shipped with most jumpers installed for a given conﬁguration. All factory default jumpers are indicated throughout this manual in the appropriate tables with a † symbol. However, due to possible rough handling during shipment, there is no assurance that all jumpers will be in the indicated position.

NOTE

9-pin Dsub:

devices before removing any connection on the 5312. Failure to do so may result in permanent damage to the card and will void any warranty.

Default jumper settings shown are those for the 4-axis version of the M5312. For default settings on other versions, see Table 1-13 at the end of Section 1.

Ansley 609-9p

Amphenol 841-17-DEFR-B09P

Check and properly conﬁgure all boards before installing.

Jumper locations are shown in Figure 1-2. We strongly recommend, however, that once you determine the proper jumper settings, replace all jumpers with more reliable wire-wrapped connections. This is particularly important when exposing the card to an industrial environment where vibration, dust, oil, or other contaminants may be present.

1-4 Introduction and Installation Model 5312B Technical Reference

Base addressing

Jumper W19 determines the upper nibble (4 bits) of the card base address according to Table 1-1.

Table 1-1

W19, base address select (upper nibble)

W19 Base Address

(1-2)†

(2-3)

† Default jumper setting

Set hex switches SW1 and SW2 to determine the lower 8 bits of the address. Switch SW2 represents the most signiﬁcant nibble (MSN), and SW1 represents the least signiﬁcant nibble (LSN). Since the 5312 occupies two adjacent I/O ports, only the even settings of the LSN switch are used.

Figure 1-2

Jumper locations for the 5312

2 xx h 3 xx h

W4 W4

W3 W3

W1 W1 W

11111

WW4W1W4W

WW4W

WW3W

W4 W4 W3

W W

Model 5312B Technical Reference Introduction and Installation 1-5

Indirect addressing

To conserve I/O space on the PC bus, the 5312 is indirectly addressed (see Table 1-2). This allows the card to occupy only two direct I/O ports by using one for indirect addressing (e v en or lower) and the other for data (the odd or greater of the two ports). The sequence for writing to any indirect port is to ﬁrst write the indirect port address to the address port. The desired data can then be written to the data port. This indirect port will remain addressed until the indirect address port is again written. For example, to write the initialization bytes MCR, ICR, OCCR, and QR to the command port of axis 1 assuming the card is strapped to 300h as the base address:

1. Write the indirect address for the axis A command port (01h) to the indirect address port (300h).

2. Write the ﬁrst byte (Master Control Register) to the data port (301h).

3. Write the second byte (Input Control Register) to the data port (301h).

4. Write the third byte (Output/Counter Control Register) to the data port (301h).

5. Write the last byte (Quadrature Encoder) to the data port (301h).

NOTE

The C function libraries on the software diskette make this sequence transparent to the user.

Table 1-2

5312 I/O map

Axis Address When Written When Read

1 00 Write to preset register (PR) and

increment register address counter.

01 Write to command register. Read OSR (output status

2 02 Write to PR and increment

03 Write to command register. Read OSR.

3 04 Write to PR and increment

05 Write to command register. Read OSR.

4 06 Write to PR and increment

07 Write to command register. Read OSR.

Global 08 Global write to all four PRs. Invalid

09 Global write to all four command

registers.

PIC 0A Low Port Low Port

0B High Port High Port

Read OL (output latch) and increment register address counter.

Read OL and increment register address counter.

Invalid

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