PCM-QUAD02
Two-Channel Quadrature Encoder
Input Board
User's Guide
© Copyright 2007, Measurement Computing Corporation
Document Revision 3, January, 2007
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HM PCM-QUAD02.doc
2
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3
Table of Contents
Preface
About this User's Guide .......................................................................................................................5
What you will learn from this user's guide .........................................................................................................5
Conventions in this user's guide .........................................................................................................................5
Where to find more information.........................................................................................................................5
Chapter 1
Introducing the PCM-QUAD02 .............................................................................................................6
Overview: PCM-QUAD02 features....................................................................................................................6
Quadrature encoders and the PCM-QUAD02................................................................................................................... 6
PCM-QUAD02 block diagram...........................................................................................................................7
Software features................................................................................................................................................7
Chapter 2
Installing the PCM-QUAD02 .................................................................................................................8
What comes with your PCM-QUAD02 shipment? ............................................................................................8
Hardware .......................................................................................................................................................................... 8
Additional documentation................................................................................................................................................. 8
Optional components..........................................................................................................................................8
Unpacking the PCM-QUAD02...........................................................................................................................9
Installing the software ........................................................................................................................................9
Installing the hardware .......................................................................................................................................9
External connections, input configuration and control.....................................................................................10
Pin assignments ...............................................................................................................................................................10
Encoder input...................................................................................................................................................................10
Chapter 3
Programming and Developing Applications ....................................................................................12
Programming languages ...................................................................................................................................12
Packaged applications programs.......................................................................................................................12
Register-level programming .............................................................................................................................12
Chapter 4
Specifications......................................................................................................................................13
Power consumption ..........................................................................................................................................13
Input..................................................................................................................................................................13
Counter .............................................................................................................................................................13
Interrupt controller............................................................................................................................................14
Environmental ..................................................................................................................................................14
Pin out...............................................................................................................................................................14
4
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 PCM-QUAD02 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: PCM-QUAD02 (the PDF version of the Specifications chapter in this guide) is
available on our web site at www.mccdaq.com/pdfs/PCM-QUAD02.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
.
.
.
.
PCM-QUAD02 User's Guide (this document) is also available on our web site at
.
5
Chapter 1
Introducing the PCM-QUAD02
Overview: PCM-QUAD02 features
The PCM-QUAD02 is an 8-bit Type II PCMCIA card that provides inputs and decoding for up to two
incremental quadrature encoders. You can also use the PCM-QUAD02 as a high speed pulse counter for general
counting applications.
Quadrature encoders and the PCM-QUAD02
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 PCM-QUAD02 is the link between up to two incremental quadrature encoders and the
computer.
The PCM-QUAD02 card provides two channels for interfacing to incremental quadrature encoders. The heart
of this product is the LS7266, a 24-bit dual-axis quadrature counter IC from LSI Computer Systems, Inc. This
component contains the following:
24-bit counters
Associated 24-bit preset and 24-bit output latch registers
Integrated digital filtering
8-bit counter prescalers
programmable index functionality
programmable count modes, including non-quadrature modes
This functionality also enables the board to operate as a high speed pulse and general purpose counter,
cascadable to 48 bits. The 24-bit counter can count either in binary or BCD through the CMR register.
The Phase A, Phase B, and Index inputs are shipped configured for differential input, with termination resistor
locations populated.
If the resistor values are incorrect for your application, contact Measurement Computing Corporation to
have them replaced.
Attempting to open the PCM-QUAD02 voids the warranty.
This document provides diagrams showing how to connect single-ended encoders to the card. These signals,
after being routed through differential receivers, offer various paths to the LS7266 inputs. The inputs are routed
through the FPGA to allow various configurations for the following:
Individual encoder inputs for 2 channels.
Cascadable counters to allow non-quadrature counting up to 48-bits.
Routing of Index inputs to either the Load Counter/Load Latch input or the Reset Counter/Gate input with
quarter-cycle and half-cycle supported.
Routing the Compare or Carry/Borrow output signals to the interrupt circuit.
You may also generate interrupts from the two Index inputs, counter overflow/underflow, or count value match.
Two interrupt registers allow the software to enable/disable interrupts, mask individual interrupts, and read the
source of the interrupt.
6
PCM-QUAD02 User's Guide Introducing the PCM-QUAD02
The incremental encoders connect to each channel through either a screw terminal board or a user-configurable,
non-terminated cable. The signals provided are (per channel):
Phase A+, A–
Phase B+, A–
Index+, Index–
+5V and GND (optional power for 5V encoders; not to exceed 400 mA peak)
PCM-QUAD02 block diagram
PCM-QUAD02 functions are illustrated in the block diagram shown here.
Quadature
Encoder
Input
Channel
1
Channel
2
Input
Configuration
S.E./DIFF
Setting
Termination
S.E./DIFF
Setting
Termination
75ALS175
75ALS175
Control
IRQ
Data
FPGA
Control
Decode
Signal Routing
Address
PCMCIA bus
Signalling
Control
LS7266: 24 bit dual-axis
quadrature counter
Channels 1 and 2
Data
CIS
Memory
Figure 1. PCM-QUAD02 functional block diagram
Software features
For information on the features of InstaCal and the other software included with your PCM-QUAD02, refer to
the Quick Start Guide that shipped with your device. The Quick Start Guide is also available in PDF at
.
Check www.mccdaq.com/download.htm for the latest software version.
7
Installing the PCM-QUAD02
What comes with your PCM-QUAD02 shipment?
As you unpack your board, make sure each of the items shown below is included.
Hardware
PCM-QUAD02 board
Chapter 2
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 PCM-QUAD02 and information regarding installation of that software.
Please read this booklet completely before installing any software or hardware.
). This booklet supplies a brief description of
Optional components
Cables
PCM-TERM15
PCM-C15-10-INCH
8
PCM-QUAD02 User's Guide Installing the PCM-QUAD02
.
y
Unpacking the PCM-QUAD02
As with any electronic device, you should take care while handling to avoid damage from static
electricity. Before removing the PCM-QUAD02 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.
Installing the hardware
The PCM-QUAD02 board is completely plug-and-play, with no switches or jumpers to set. Configuration is
controlled by your system's PCMCIA Card and Socket Services (CSS). CSS is a program that communicates
with and configures your computer’s PCMCIA interface controller. CSS assigns the appropriate resources to the
card, such as interrupts and I/O addresses. The number and type of resources assigned is determined by the
firmware on the PCMCIA card you are installing.
To install the card, follow the steps below:
1. Insert the PCM-QUAD02 into the PCM slot of a PC-CARD reader.
The arrow on the board’s label points to the connector-end. The connector is keyed on one end to ensure
proper installation ( ). Figure 2
The top of the card has a label
The bottom of the card has no label.
Figure 2. End view of the 68-pin PC-CARD connector showing proper orientation
When you insert the PCM-QUAD02 into the PCM card case, CSS detects it and you are notified by the
system with either a dialog box or an audible tone.
If your PCMCIA card is not detected
If there is no response from the system when you insert or remove the card from the PCM card case, your
system may not be configured for PCMCIA support. Refer to the "Appendix - PCMCIA Cards" section in the
Software Installation Manual for more information. This document is available on our web site at
Ke
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. The
information file for this board should have already been loaded onto your PC when you installed the
Measurement Computing Data Acquisition Software CD supplied with your board, and should be detected
automatically by Windows. If you have not installed this software, cancel the dialog and install it now.
9
PCM-QUAD02 User's Guide Installing the PCM-QUAD02
2. To test your installation and configure your board, run the InstaCal utility you installed in the previous
Software-Quick-Start.pdf for information on how to initially set up and load InstaCal.
External connections, input configuration and control
You can connect to the PCM-QUAD02 in one of two ways:
Use a standard AMP 15-pin I/O PCMCIA connector and non-terminated cable, such as the PCM-C15-10-
INCH
. Details on this product are available on our web site at
www.mccdaq.com/cbicatalog/cbiproduct.asp?dept_id=105&pf_id=537.
Use a standard AMP 15-pin I/O PCMCIA connector with cable which is mated to a screw terminal board,
such as the PCM-TERM15. Details on this product are available on our web site at
www.mccdaq.com/cbicatalog/cbiproduct.asp?dept_id=102&pf_id=574.
Pin assignments for both single-ended and differential connections are described below.
Note
Be sure to properly phase the encoder according to the manufacturer’s instructions.
Pin assignments
Encoder input
Termination resistors
Footprints provided only.
AMP 15 position I/O connector
Pin # Function Pin # Function
1 Phase 1A+ 9 +5 VDC
2 Phase 1A– 10 Phase 2A+
3 Phase 1B+ 11 Phase 2A–
4 Phase 1B– 12 Phase 2B+
5 Index 1+ 13 Phase 2B–
6 Index 1– 14 Index 2+
7 Ground 15 Index 2–
8 +5 VDC 16
Resistors
Input Channel 1 Channel 2
Phase A R1, 2 R7, 8
Phase B R3, 4 R9, 10
Index R5, 6 R11, 12
Differential configuration
The table below lists the default for Phase A signals. The same exist for Phase B and Index signals.
15-pin PCMCIA
Connector
Phase 1A+ A+
Phase 1A– A–
Encoder connection
10
PCM-QUAD02 User's Guide Installing the PCM-QUAD02
Single-ended configuration
A single-ended configuration for Phase A signals is shown in Fi . Use the same connections for Phase B
gure 3
and Index signals.
15-Pin PCMCIA
Connector
Phase 1A+
GND
Encoder
A+
A-
+5V.
GND
R1 220
ohm
+5V.
GND
R2 330
Phase 1A-
ohm
**
Terminal Board
Figure 3. Single-ended configuration
** This resistor divider supplied by the user provides a bias voltage for the differential receiver.
RES1 = 220 ohm resistor, RES2 = 330 ohm resistor (½ watt).
11
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 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
PCM-QUAD02. This document is available on our web site at www.mccdaq.com/registermaps/RegMapPCM-
QUAD02.pdf.
12
Chapter 4
Specifications
Typical for 25 °C unless otherwise specified.
Specifications in italic text are guaranteed by design.
Power consumption
Table 1. Power consumption specifications
Parameter Specification
Not supplying power to external encoders:
+5V 80 mA max, 50 mA typical
Typical supplying one Dynamics Research Incremental Optical Rotary Encoder — part number M21AAFOBB2E-2500
+5V 179 mA
Maximum peak current to encoders
(each)
Input
400 mA
Table 2. Input specifications
Receiver type SN75ALS175 quad differential receiver
Configuration
Number of channels 2
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
Absolute maximum input voltage Differential: ±25 V max
Miscellaneous
Each channel consists of Phase A input, Phase B input and Index input; each is
configured for differential input
Meets EIA RS422, 423, 485 and CCITT V.10, V.11, X.26, X.27.
Designed for multipoint buses on long lines in noisy environments.
Counter
Table 3. Counter specifications
Counter type LS7266R1 24-bit Dual-axis Quadrature Counter
Quadrature Mode Clock frequency: 4.3 MHz max
Separation: 57 ns min
Clock pulse width: 115 ns min
Index pulse width: 85 ns min
Count Mode Clock frequency: 30 MHz max, (25 MHz max Mod-N mode)
Clock A - high pulse width: 16 ns min
Clock A - low pulse width: 16 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
13
PCM-QUAD02 User's Guide Specifications
Interrupt controller
Table 4. Interrupt Controller specifications
Controller type FPGA
Configuration Polled mode only
Interrupts 2 - 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
Pin out
AMP 15 position I/O connector
Pin # Function Pin # Function
1 Phase 1A+ 9 +5 VDC
2 Phase 1A– 10 Phase 2A+
3 Phase 1B+ 11 Phase 2A–
4 Phase 1B– 12 Phase 2B+
5 Index 1+ 13 Phase 2B–
6 Index 1– 14 Index 2+
7 Ground 15 Index 2–
8 +5 VDC 16
14
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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