HM PCI-QUAD04.doc
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PCI-QUAD04
Four-Channel Quadrature Encoder
Input Board
User's Guide
© Copyright 2006, Measurement Computing Corporation
Document Revision 5, June, 2006
Your new Measurement Computing product comes with a fantastic extra —
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we honor this warranty for any manufacturer’s board that we have a replacement for.
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HM PCI-QUAD04.doc
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Trademark and Copyright Information
TracerDAQ, Universal Library, Harsh Environment Warranty, Measurement Computing Corporation, and the Measurement
Computing logo are either trademarks or registered trademarks of Measurement Computing Corporation.
Windows, Microsoft, and Visual Studio are either trademarks or registered trademarks of Microsoft Corporation
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Notice
Measurement Computing Corporation does not authorize any Measurement Computing Corporation product for use
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Life support devices/systems are devices or systems which, a) are intended for surgical implantation into the body,
or b) support or sustain life and whose failure to perform can be reasonably expected to result in injury.
Measurement Computing Corporation products are not designed with the components required, and are not subject
to the testing required to ensure a level of reliability suitable for the treatment and diagnosis of people.
iii
Table of Contents
About this User's Guide .......................................................................................................................v
What you will learn from this user's guide .........................................................................................................v
Conventions in this user's guide .........................................................................................................................v
Where to find more information.........................................................................................................................v
Chapter 1
Introducing the PCI-QUAD04 ........................................................................................................... 1-1
Overview: PCI-QUAD04 features.................................................................................................................. 1-1
PCI-QUAD04 block diagram ......................................................................................................................... 1-2
Software features............................................................................................................................................ 1-2
Chapter 2
Installing the PCI-QUAD04 ............................................................................................................... 2-1
What comes with your PCI-QUAD04 shipment?........................................................................................... 2-1
Hardware ....................................................................................................................................................................... 2-1
Additional documentation.............................................................................................................................................. 2-1
Unpacking the PCI-QUAD04......................................................................................................................... 2-2
Installing the software .................................................................................................................................... 2-2
Configuring the PCI-QUAD04....................................................................................................................... 2-2
Channel input mode....................................................................................................................................................... 2-2
Termination resistors .....................................................................................................................................................2-3
Installing the PCI-QUAD04 ........................................................................................................................... 2-3
Connecting the board for I/O operations ........................................................................................................ 2-3
Connectors, cables – main I/O connector....................................................................................................................... 2-3
Pin out – main I/O connector ......................................................................................................................................... 2-4
Board connector-to-C37F-4X9F-1M cable pin out........................................................................................................ 2-5
Chapter 3
Programming and Developing Applications .................................................................................. 3-1
Programming languages ................................................................................................................................. 3-1
Packaged applications programs..................................................................................................................... 3-1
Register-level programming ........................................................................................................................... 3-1
Chapter 4
Specifications.................................................................................................................................... 4-1
Power consumption ........................................................................................................................................ 4-1
Input................................................................................................................................................................ 4-1
Counter ........................................................................................................................................................... 4-2
Interrupt controller.......................................................................................................................................... 4-2
Environmental ................................................................................................................................................ 4-2
iv
About this User's Guide
What you will learn from this user's guide
This user's guide explains how to install, configure and use the PCI-QUAD04 quadrature encoder board.
This user's guide also refers you to related documents available on our web site and to technical support
resources.
Conventions in this user's guide
For more information on …
Text presented in a box signifies additional information and helpful hints related to the subject matter you are
reading.
Caution! Shaded caution statements present information to help you avoid injuring yourself and others,
damaging your hardware, or losing your data.
Preface
<#:#> Angle brackets that enclose numbers separated by a colon signify a range of numbers, such as those assigned
to registers, bit settings, etc.
bold text Bold text is used for the names of objects on the screen, such as buttons, text boxes, and check boxes. For
example:
1. Insert the disk or CD and click the OK button.
italic text Italic text is used for the names of manuals and help topic titles, and to emphasize a word or phrase. For
example:
The InstaCal installation procedure is explained in the Quick Start Guide.
Never touch the exposed pins or circuit connections on the board.
Where to find more information
! MCC's Specifications: PCI-QUAD04 (the PDF version of the Specifications chapter in this guide) is
available on our web site at www.mccdaq.com/pdfs/PCI-QUAD04.pdf
! MCC's Quick Start Guide is available on our web site at
! MCC's Guide to Signal Connections is available on our web site at
www.mccdaq.com/signals/signals.pdf.
! MCC's Universal Library User's Guide is available on our web site at
! MCC's Universal Library Function Reference is available on our web site at
! MCC's Universal Library for LabVIEW
™
User’s Guide is available on our web site at
.
.
.
.
PCI-QUAD04 User's Guide (this document) is also available on our web site at
.
v
Chapter 1
Introducing the PCI-QUAD04
Overview: PCI-QUAD04 features
The PCI-QUAD04 is a PCI plug-in board that provides inputs and decoding for up to four incremental
quadrature encoders. The PCI-QUAD04 can also be used as a high speed pulse counter for general counting
applications.
Incremental quadrature encoders are used to provide feedback signals from motors, that is, to count rotations
and convert the physical movement into a series of electrical signals. These signals are sent to the computer
which then decides whether or not to trigger signals that control the motor’s movement and what those control
signals should be. The PCI-QUAD04 is the link between up to four incremental quadrature encoders and the
computer.
The PCI-QUAD04 is a plug-in board for PC/XT/AT computers; it uses one PCI slot and a 37 pin D-type
connector for up to four channels. Each incremental quadrature encoder connects to an input channel on the
board through a DB37 female connector on the board’s rear panel. Channels 1 through 4 connect to the DB37
connector on the rear panel bracket.
For each channel, the signals provided at the DB37 connectors are:
! Phase A+, A−
! Phase B+, B−
! Index +/-
! +5VDC and GND (optional power for +5V encoders)
Pin out diagrams are shown on page 2-4.
The PCI-QUAD04 provides inputs for three basic signals, Phase A, Phase B, and Index. Phase A and Phase B
are generated at a 90° phase shift with respect to each other. Using these signals, a computer can determine
system position (counts), velocity, (counts per second), and direction of rotation.
The Index signal is used to establish an absolute reference position within one count of the encoder rotation
(360°). Therefore, the Index signal is often used to reset or preset the position counter, particularly upon system
startup when the incremental encoder can not determine the starting position of the motor. The Index signal can
also be used to generate an interrupt signal to the computer.
The Phase A, Phase B, and Index inputs are jumper-selectable for differential or single-ended input mode.
These signals, after being routed through differential receivers, offer various paths to the LS7266 inputs through
the FPGA. The inputs are register-programmable for the following:
! Individual incremental encoder inputs to allow up to four channels
! Cascadable counters to allow non-quadrature counting up to 96-bits
! Routing the Index input to either the Load Counter/Load Latch input or the Reset Counter/Gate input with
quarter cycle and half cycle signals
! Routing the Compare or Carry/Borrow output signals to the 8259 Interrupt controller
The heart of the PCI-QUAD04 is the LSI Computer Systems, Inc., LS7266R1 24-bit Dual-Axis Quadrature
Counter IC. This component contains:
! Two 24-bit counters with associated 24-bit preset and 24-bit output latch registers
! Integrated digital filtering with 8-bit counter prescalers
! Programmable index functionality and programmable count modes including non-quadrature modes
The PCI-QUAD04 can operate as a high-speed pulse and general purpose counter, cascadable to 96-bits. The
24-bit counters can count either in binary or BCD through register programming.
1-1
PCI-QUAD04 User's Guide Introducing the PCI-QUAD04
The PCI-QUAD04 also includes an 82C59 Programmable Interrupt Controller which accepts the four Index
inputs directly and the Carry/Borrow outputs from the LS7266 (counter overflow/underflow or count value
match) to generate interrupts to the PC bus. The interrupt controller operates in Polled Mode and allows for
masking and priority setting of the interrupt inputs.
PCI-QUAD04 block diagram
PCI-QUAD04 functions are illustrated in the block diagram shown here.
Figure 1-1. PCI-QUAD04 functional block diagram
Software features
For information on the features of InstaCal and the other software included with your PCI-QUAD04, refer to
the Quick Start Guide that shipped with your device. The Quick Start Guide is also available in PDF at
Check http://www.mccdaq.com/download.htm
supported under less commonly used operating systems.
for the latest software version or versions of the software
1-2
.
Installing the PCI-QUAD04
What comes with your PCI-QUAD04 shipment?
As you unpack your board, make sure each of the items shown below is included.
Hardware
! PCI-QUAD04 board
Chapter 2
! C37F-4X9F-1M — One meter DB37F to 4 x DB9F cable
Additional documentation
In addition to this hardware user's guide, you should also receive the Quick Start Guide (available in PDF at
the software you received with your PCI-QUAD04 and information regarding installation of that software.
Please read this booklet completely before installing any software or hardware.
2-1
PCI-QUAD04 User's Guide Installing the PCI-QUAD04
Unpacking the PCI-QUAD04
As with any electronic device, you should take care while handling to avoid damage from static
electricity. Before removing the PCI-QUAD04 from its packaging, ground yourself using a wrist strap or by
simply touching the computer chassis or other grounded object to eliminate any stored static charge.
If any components are missing or damaged, notify Measurement Computing Corporation immediately by
phone, fax, or e-mail:
! Phone: 508-946-5100 and follow the instructions for reaching Tech Support.
! Fax: 508-946-9500 to the attention of Tech Support
! Email: techsupport@mccdaq.com
Installing the software
Quick-Start.pdf.
Configuring the PCI-QUAD04
Before installing the board, configure the channel input mode for either single-ended or differential. You set the
channel configuration with a set of jumper blocks on the board. Each jumper is labeled for its functionality. By
default, the board is shipped with the channels configured for single-ended operation, with no termination
resistors installed.
Channel input mode
To configure for single-ended operation, place a jumper between pin 2 and pin 3 (labeled SE). To configure for
differential operation, place a jumper between pin 1 (labeled
shown in . Figure 2-1
Figure 2-1. Channel input mode configured for SE operation
Input mode jumper settings are listed in . Table 2-1
Table 2-1. Channel input mode jumper settings
Input 1 2 3 4
Phase A P3 P8 P14 P11
Phase B P4 P7 P13 P10
Index P5 P6 P12 P9
DIFF) and pin 2. A single-ended configuration is
Input channel
2-2
PCI-QUAD04 User's Guide Installing the PCI-QUAD04
Termination resistors
Although termination resistors typically are not required, SMT pads on the PCI-QUAD04 are open and labeled
to allow you to install terminating resistors from the various inputs to ground.
Table 2-2. Termination resistor settings
Input 1 2 3 4
Phase A+ R9 R22 R38 R30
Phase A- R10 R23 R39 R31
Phase B+ R11 R20 R36 R28
Phase B- R12 R21 R37 R29
Index+ R14 R19 R35 R27
Index- R13 R18 R34 R26
Channel
Installing the PCI-QUAD04
After configuring the PCI-QUAD04, install the board in your computer. Follow the steps below.
Install the MCC DAQ software before you install your board
The driver needed to run your board is installed with the MCC DAQ software. Therefore, you need to install the
MCC DAQ software before you install your board. Refer to the Quick Start Guide for instructions on installing
the software.
1.
Turn your computer off and open it up.
2.
Close your computer and turn it on.
If you are using an operating system with support for plug-and-play (such as Windows 2000 or
Windows XP), a dialog box opens as the system loads, indicating that new hardware has been detected. If
the information file for this board is not already loaded onto your PC, you are prompted for the disk
containing this file. The Measurement Computing Data Acquisition Software CD supplied with your board
contains this file. If required, insert the disk or CD and click
OK.
3.
To test your installation and configure your board, run the InstaCal utility installed in the previous section.
Refer to the Quick Start Guide that came with your board for information on how to initially set up and
load InstaCal.
Connecting the board for I/O operations
Connectors, cables – main I/O connector
Table 2-3
QUAD04.
I/O connector type 37-pin connector
Compatible cable C37F-4X9F-1M
lists the board connectors, compatible cable, and compatible accessory products for the PCI-
Table 2-3. Board connectors, cables, and accessory equipment
2-3
PCI-QUAD04 User's Guide Installing the PCI-QUAD04
Pin out – main I/O connector
Pin assignments of the 37-pin connector P2 are shown in . Figure 2-2
Important
Be sure to correctly phase the encoder according to the manufacturer’s instructions.
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
PHASE1A –
+5VDC
PHASE1B –
+5VDC
INDEX1 –
NO CONNECTION
PHASE3A –
+5VDC
PHASE3B –
+5VDC
PHASE4A –
+5VDC
PHASE4B –
+5VDC
PHASE2A –
+5VDC
PHASE2B –
+5V
INDEX2 –
Figure 2-2. Connector pin out
2-4
PCI-QUAD04 User's Guide Installing the PCI-QUAD04
Board connector-to-C37F-4X9F-1M cable pin out
Connections from the board connector to the C37F-4X9F-1M cable are shown in Fi . gure 2-3
Figure 2-3. Board connector-to-cable C37F-4X9F-1M pin out
2-5
Chapter 3
Programming and Developing Applications
After following the installation instructions in Chapter 2, your board should now be installed and ready for use.
Programming languages
Packaged applications programs
Many packaged application programs, such as SoftWIRE and HP-VEE™, now have drivers for your board. If
the package you own does not have drivers for your board, please fax or e-mail the package name and the
revision number from the install disks. We will research the package for you and advise how to obtain drivers.
or any other language, please refer to the Universal Library User's Guide (available on our web
).
Some application drivers are included with the Universal Library package, but not with the application package.
If you have purchased an application package directly from the software vendor, you may need to purchase our
Universal Library and drivers. Please contact us by phone, fax or e-mail:
! Phone: 508-946-5100 and follow the instructions for reaching Tech Support.
! Fax: 508-946-9500 to the attention of Tech Support
! Email: techsupport@mccdaq.com
Register-level programming
You should use the Universal Library or one of the packaged application programs mentioned above to control
your board. Only experienced programmers should try register-level programming.
If you need to program at the register level in your application, refer to the Register Map for the PCI-QUAD04.
This document is available on our web site at www.mccdaq.com/registermaps/RegMapPCI-QUAD04.pdf
.
3-1
Specifications
Typical for 25 °C unless otherwise specified.
Specifications in italic text are guaranteed by design.
Power consumption
Table 1. Power consumption specifications
Not supplying power to external encoders:
+5 V 325 mA typical, 460 mA max.
Typical supplying 1 Dynamics Research Incremental Optical Rotary Encoder part number M21AAFOBB2E-2500:
+5 V 1058 mA typical, 1479 mA max.
Input
Table 2. Input specifications
Receiver type SN75ALS175 quad differential receiver
Configuration
Differential
Single - ended
Number of channels 4
Common mode input voltage range ±12 V max.
Differential input voltage range ±12 V max.
Input sensitivity ±200 mV
Input hysteresis 50 mV typ.
Input impedance 12 kΩ min.
Propagation delay 27 ns max. (tpLH, tpHL)
Absolute maximum input voltage:
Differential ±14 V max.
Miscellaneous
Each channel consists of PhaseA input, PhaseB input and Index input; each
input switch / jumper selectable as single-ended or differential
! PhaseA, PhaseB and Index (+) inputs at user connector routed to (+) inputs of
differential receiver.
! PhaseA, PhaseB and Index (-) inputs at user connector routed to (-) inputs of
differential receiver.
! PhaseA, PhaseB and Index (+) inputs at user connector routed to (+) inputs of
differential receiver.
! PhaseA, PhaseB and Index (-) inputs at user connector routed to ground.
(-) inputs of differential receiver routed to +3 V reference.
! Meets or exceeds ANSI EIA/TIA-422-B, EIA/TIA-423-B, RS-485.
! Meets ITU recommendations V.10, V.11, X.26, X.27.
! Designed for multipoint busses on long lines and in noisy environments.
Chapter 4
4-1
PCI-QUAD04 User's Guide Specifications
Counter
Table 3. Counter specifications
Counter type LS7266R1 24-bit Dual-axis Quadrature Counter
Quadrature mode:
Clock frequency 1.2 MHz max.
Separation 100 ns min.
Clock pulse width 400 ns min.
Index pulse width 300ns min.
Count mode:
Clock frequency 30 MHz max, (25 MHz max Mod-N mode)
Clock A - high pulse width 14 ns min.
Clock A - low pulse width 14 ns min.
Filter clock (FCK) 10 MHz
Digital filter rate 10 MHz, software selectable divider (1 to 256 in single steps)
Crystal oscillator (FCK source):
Frequency 10 MHz
Frequency accuracy 100 ppm
Interrupt controller
Table 4. Interrupt controller specifications
Controller type 8259 Programmable Interrupt Controller
Configuration Polled mode only
Interrupts 2, 3, 5, 7, 10, 11, 12 and 15
Interrupt enable Programmable
Interrupt sources All Carry/Borrow outputs from LS7266R1, all Index inputs
Environmental
Table 5. Environmental specifications
Operating temperature range 0 to 70 °C
Storage temperature range -40 to 100 °C
Humidity 0 to 90% non-condensing
4-2
Declaration of Conformity
Manufacturer: Measurement Computing Corporation
Address: 10 Commerce Way
Suite 1008
Norton, MA 02766
USA
Category: Electrical equipment for measurement, control and laboratory use.
Measurement Computing Corporation declares under sole responsibility that the product
PCI-QUAD04
to which this declaration relates is in conformity with the relevant provisions of the following standards or other
documents:
EU EMC Directive 89/336/EEC: Electromagnetic Compatibility, EN55022 (1995), EN55024 (1998)
Emissions: Group 1, Class B
! EN55022 (1995): Radiated and Conducted emissions.
Immunity: EN55024
! EN61000-4-2 (1995): Electrostatic Discharge immunity, Criteria A.
! EN61000-4-3 (1997): Radiated Electromagnetic Field immunity Criteria A.
! EN61000-4-4 (1995): Electric Fast Transient Burst immunity Criteria A.
! EN61000-4-5 (1995): Surge immunity Criteria A.
! EN61000-4-6 (1996): Radio Frequency Common Mode immunity Criteria A.
! EN61000-4-8 (1994): Power Frequency Magnetic Field immunity Criteria A.
! EN61000-4-11 (1994): Voltage Dip and Interrupt immunity Criteria A.
Declaration of Conformity based on tests conducted by Chomerics Test Services, Woburn, MA 01801, USA in
September, 2001. Test records are outlined in Chomerics Test Report #EMI3053.01.
We hereby declare that the equipment specified conforms to the above Directives and Standards.
Carl Haapaoja, Director of Quality Assurance
Measurement Computing Corporation
10 Commerce Way
Suite 1008
Norton, Massachusetts 02766
(508) 946-5100
Fax: (508) 946-9500
E-mail: info@mccdaq.com
www.mccdaq.com
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