installation manual - Gurley Precision Instruments
Contents
1. T O Conflict Data Size Mismatch Parity Size Mismatch Transmission Error Baud Rate Too Low Defective Encoder Defective ASC3N 30 Encoder fails the monotonicity test The encoder output field goes from 0 to full count in 1 2 of a revolution or less Some of the encoder output bits do not change value as the encoder is rotated The base address specified in the ASC3N test program does not match the jumper settings for the ASC3N Another device on your computer is using the same I O address as the ASC3N The encoder and the ASC3N do not have the same data size settings The encoder and the ASC3N have different parity settings The cabling may be disconnected or inadequately shielded The lower the baud rate the more difficult it is to turn the encoder shaft slow enough to successfully complete the monotonicity test The absolute encoder is defective The ASC3N is defective Appendix A Specifications General Hardware compatibility I O base address Interrupt request level Data size Parity Axes supported Connector interface Serial input from encoder Serial output Maximum data clock rate Minimum data clock rate Maximum data update rate Minimum data update rate Mating encoder Electrical Typical power requirements Environmental Operating temperature Operating humidity Storage temperature Storage humidity Physical Size IBMG AT compatible or higher computer with an available 16 bit ISA b2. clrscr Paint the screen elrser y printf ASC3N I O Address x BaseAddress printf n n t t tParity n tEncoder 1 n tEncoder 2 n tEncoder 3 n n printf Press Q to quit textcolor BLACK textbackground WHITE _setcursortype _NOCURSOR key 0 quit when the Q key is pressed while key q amp amp key Q Start Conversion by reading the base address inpw BaseAddress StatusRegister BaseAddress t2 Check the status register for end of conversion for i 0 1 lt 2000 i 1 if O 8 amp inpw StatusRegister break Flag an error if the conversion takes too long if i gt 2000 textcolor BLACK BLINK window 4 2 50 4 25 cprintf The I O card is not responding textcolor BLACK Read the conversion results for each encoder Read the parity of all three encoders parity inpw StatusRegister The 1st encoder is at address 4 value long inpw BaseAddresst 6 lt lt 16 inpw BaseAddress 4 window 16 3 4 16 8 5 position the cursor and print the encoder s cprintf 5 51x value output in a highlighted window Follow it printf 3s n parity amp 1 BAD OK with the parity value 2nd encoder is at address 8 value long inpw BaseAddress 10 lt lt 16 tinpw BaseAddresst 8 window 16 3 5 16 8 6 cprintf 5 51x value printf 3s parity amp 2 BAD OK The 3rd
3. Base Address The I O base address is used to designate the beginning of address space available for communication between the computer and its installed devices The ASC3N requires 16 10 hex contiguous I O addresses For example an I O base address of 220 uses addresses 220 through 22F hex Table 1 lists I O base addresses and potential conflicting devices Column 1 contains all possible I O base addresses for your ASC3N Notice the range is from 200 3F0 hex Column 2 lists potential conflicting devices and their typical I O base addresses Use this table as a guide when selecting an I O base address for your ASC3N If for example you have a device using I O base address 220 select an I O base address other than 220 Make sure that the address you select is not used by some other device All addresses without a description in column 2 are generally available for use Be aware though that computers with small built in LED or LCD displays to show disk cylinder data or clock speed may also use address space Potential conflicting Devices Base Address and Their Typical I O Address Novel NetWare Key Card 33 T 2N9 3B 9 E DE Se ee E 2H 300 UL o bwo o G y COM3 3E8 3EE Floppy Disk Controller 3F0 3F7 COMI 3F8 3FF Table 1 I O Base Addresses Used by Various Devices Interrupt Level If interrupts are to be used with the ASC3N a unique interrupt IRQ level must be assigned to the ASC3N An
4. encoder is at address 12 value long inpw BaseAddress 14 lt lt 16 inpw BaseAddress 12 16 3 6 16 8 7 cprintf 5 51x value printf 3s parity amp 4 BAD OK poll for keyboard input if 0 kbhit key getch _setcursortype _NORMALCURSOR return 0 26 MS Quick Basic Language Example VK KKK ck Ck ck Ck Ck Ck Ck Sk Ck kk Ck Sk Ck kk Ck kk kk kk KKK KKK KK KKK Y READ16 BAS VK KKK ck kk Ck Ck Ck Ck Ck Ck Ck Sk Ck kk ck kk kk kk ck KK KKK KK KKK Y Y k k via GPI serial k k k k read 16 bit serial A25S Encoder interface board QBasic test demo program Gurley Precision Instruments VK KKK ck kk Ck Ck Ck Ck Ck kk Ck Sk Ck kk Ck kk kk Sk kk kk ck ko KKK KKK Start QuickBasic with the l option to load the Quick Library Y Y Y AEIB OLB For example bc7 bin qbx exe l asc3 examples quick aeib qlb declare the QLB function ioget16 DEFINT A Z DECLARE FUNCTION ioget16 BYVAL Addr AS INTEGER CLS BoardBase amp H210 SET BASE ADDR gt gt gt gt PRINT Board Address HEXS BoardBase Hex IntCntr BoardBase 0 Interrogate control Encl BoardBase 4 Encoder Port 1 Enc2 BoardBase 8 Encoder Port
5. interrupt request IRQ signals to the computer when a device needs attention The ASC3N supports IRQ levels 5 7 9 10 11 and 15 Table 2 lists the IRQ levels supported by your ASC3N and the devices that commonly use those IRQ levels Column 1 list all of the IRQ levels supported and Column 2 shows the devices and computer functions in an AT computer that are likely to use them For example the LPT2 port in an AT is likely to use IRQ 5 Therefore to avoid a conflict you should not configure the ASC3N to use IRQ 5 if the LPT2 port is being used in your AT computer The same principle applies to the other IRQ levels shown in Table 2 with the exception of IRQ 9 and the possible exception of IRQ 7 Even though EGA and VGA video adapters are installed and potentially can use IRQ 9 most applications do not hence IRQ 9 may be available for use with the ASC3N Likewise even though you have a printer installed at LPT1 using IRQ 7 may not create a problem This is because most applications do not use LPT1 with interrupts LPT2 LPTI EGA VGA Unused Unused Unused Table 2 IRQ Levels Used by Various Devices Configuring the ASC3N This section describes the different configuration jumpers and the functions associated with each Before configuring your ASC3N please read the preceding section Avoiding Configuration Conflicts for additional configuration information The ASC3N has been designed to offer maximum configuration flexibi
6. reset 0 aaa Factory Use Only Do Not Use Address Bit is set 1 As shown above Jumpers A4 A8 A9 are 1 Jumpers A5 A6 A7 are O The I O board address is 11 0001 0000 binary 310 hex Refer to chapter 2 Configuring and Installing Your ASC3N for further configuration information 32 Appendix C Glossary Absolute Encoder Encoders providing a unique binary code for each position Accuracy A measurement of how close the output is to where it should be Address An identifier or label of a discrete location in a computer s memory ASCII American Standard Code for Information Interchange Baud Rate The rate in bits per second at which information is transmitted over a serial link Bit a contraction of Binary digIT the smallest unit of information in a binary number system It can be represented by either 0 or 1 yes or no on or off Bits per Second bps The number of bits transmitted in one second Bus A group usually a multiple of 8 of parallel conductors each carrying one bit of the binary data Byte A group of adjacent bits treated as a unit Eight bits are typically considered one byte Clock Rate How fast a clock operates expressed in pulses per second or Hertz Complement The inverse of a digital signal Connector An device on equipment and cables that provides for a connection CPU Central Processing Unit This is essentially the heart of the computer CPR Counts or C
7. shipment Before you seal the box write the RMA number on a piece of paper and put it inside the box so it s the first thing we see when we open it 4 Also write the RMA number on the outside of the box next to the address label Use a black felt tipped marker 5 If you have to contact us about the return please refer to the RMA number for quickest service Thank you for your cooperation 35
8. 2 Enc3 BoardBase amp HC Encoder Port 3 kK kK Kk Ok F RE i R U N kK k kK S ECL TP S CRE E N jOCATE 23 26 PRINT press Q to quit jOCATE 8 24 PRINT Encoder 1 LOCATE 10 24 PRI Encoder 2 LOCATE 12 24 PRI Encoder 3 COLOR 0 7 jOCATE 8 35 PRINT highlight jOCATE 10 35 PRINT b jOCATE 12 35 PRINT READ AND DISPLAY LOOP DO keyS INKEYS check keyboard dummy iogetl6 IntCntr cause an interrogate by reading this addr jOCATE 8 37 PRINT RIGHTS 0000 HEXS ioget16 Encl 4 read and display 1 jOCATE 10 37 PRINT RIGHT 0000 HEXS ioget16 Enc2 4 read and display 2 jOCATE 12 37 PRINT RIGHTS 0000 HEXS ioget16 Enc3 4 read and display 3 LOOP UNTIL UCASES key Q loop until Q pressed END 27 MS Visual Basic Language Example Lines too long to fit on one line in this manual may be continued on the next line using a line continuation character This listing assumes that a form with proper objects has been created Declare Function iogetl6 Lib C ASC3 EXAMPLES VBWIN AEIB16 DLL ByVal Addr As Integer As Integer Const StopRun 0 Stop reading so that address can be edited Const FreeRun 1 Read all encoders Dim RunMode As Integer current mode of operation Dim BaseAddr As Integer holds base address of board Dim Encladdr As Integer holds address of Encoder 1 Dim Enc2addr As Integer holds address of E
9. C3N by its edges Attach up to three A25S Absolute Encoders to the ASC3N Refer to the next section Connecting the ASC3N to the Model A25S Absolute Rotary Encoder to insure correct cable construction Test the ASC3N Follow the directions in the next chapter Software Installation to install the software Run the Test and Utility Programs to verify your configuration is correct Replace the cover on the computer Do not replace the cover until you have confirmed that the ASC3N is connected and configured correctly 15 Connecting the ASC3N to the A25S Encoder This section describes how to hook up a Model A25S Absolute Rotary Encoder to your ASC3N There are two suggested cabling configurations short haul and long haul Refer to figure 1 and figure 2 in section 1 1 Model ASC3N Overview for block diagrams of short and long haul connections The ASC3N incorporates three 15 position female high density D Subminiature connectors DE 15S to interface from one to three absolute encoders Figure 7 illustrates the PC card bracket and the three I O connectors The top most connector is referred to as Encoder 1 followed by the middle and bottom being Encoder 2 and Encoder 3 respectively Encoder 1 I O Connector Encoder 2 I O Connector Encoder 3 I O Connector Figure 7 Card Bracket I O Connectors Short Haul Connections Short haul connections can be used when the encoder electronics is located within 50 feet of t
10. Model ASC3N Absolute Serial Interface Card USER S MANUAL Third Edition May 1999 514 Fulton Street Troy NY 12181 USA Phone 518 272 6300 Toll free 800 759 1844 Fax 518 274 0336 Precision Instruments URL encoders gurley com Table of Contents Introduction Overview How to Use This Manual Package Contents What Else You Will Need Configuring and Installing your ASC3N Avoiding Configuration Conflicts Configuring the ASC3N Installing Your ASC3N Connecting the ASC3N to the A25S Encoder Using Multiple ASC3N s in Your Computer Software Installation Device Drivers Utility Programs for Test and Evaluation Writing Application Programs Address Usage and Status Register C Language Example Quick Basic Language Example MS Visual Basic Language Example Problems and Solutions General Troubleshooting Appendices Appendix A Specifications Appendix B Configuration Jumper Summary Appendix C Glossary Appendix D Warranty and Return Policy Md OQ Aa Ww 10 15 16 16 19 19 22 25 27 28 29 31 32 33 35 Overview The Model ASC3N absolute serial interface card is designed for the IBM AT minimum with 16 bit ISA bus architecture and most compatible computers PC based applications that require positional data or feedback can now use the ASC3N along with a GPI Model A25S absolute rotary encoder to accomplish this The ASC3N interface card enables you to control from one to three encoders configured with seria
11. Monotonicity An output code deviated by more The encoder shaft was moved too rapidly for the Error than one count from the previous software to follow one The encoder resolution settings for the ASC3N do not match the actual encoder resolution The encoder is defective Parity Error The ASC3N reported a parity error The encoder and the ASC3N do not have identical parity settings A data transmission error occurred Table 4 Monotonicity Test Error Messages 21 Address Usage and Status Register This section explains the necessary information required to communicate with the ASC3N with software Refer to sections 4 2 4 3 and 4 4 for example programs written in C MS Quick Basic and MS Visual Basic Addressing the ASC3N To execute any of the board s operations a 16 bit READ is directed to the ASC3N s I O base address setting plus some offset depending on which operation the programmer wishes to perform Table 5 lists all the tasks the ASC3N can perform The table uses an example base address of 300 hex to illustrate this Because the ASC3N is designed for the 16 bit ISA bus program reads must occur at even addresses only Note that table 5 does not reflect any odd address The ASC3N requires 16 I O addresses but only 8 addresses are used to execute the ASC3N operations T O Address Map Read Interrogate Start 30CH Read Encoder 3 Data Low Word 30EH Read Encoder 3 Data High Word Write Not Used Numb
12. a from the encoder and that the data is ready to be read mW RQ 11 Bete IRQ 10 FREER ira 5 HRH Ra 7 Sette IRQ 9 opoopog IRQ None Figure 4 IRQ Level Jumper J1 T O Base Address Jumper J2 The I O base address is configured at jumper J2 The ASC3N requires 16 10 hex contiguous I O addresses with the base address in the range of 200 3E0 hex I O computer boards need only decode address lines A4 A9 when configuring for the base address Jumper J2 is used to configure these six address lines When no jumper is installed in any of the jumper positions it is interpreted as a logical 0 or off With a jumper installed in any of the positions it is interpreted as a logical 1 or on Figure 5 illustrates the configuring of the I O base address for the ASC3N Pay special attention to the example to further clarify the setting of the correct location 11 J2 REEERE ADDRESS AAAAAA 987654 H Address Bit is reset 2 0 Address Bit is set 1 Example As shown above Jumpers A4 A8 A9 are 1 Jumpers A5 A6 A7 are 0 The I O board address is 11 0001 0000 binary 310 hex Figure 5 I O Base Address Jumper J2 Board Specific Configurations Jumper J3 Jumper J3 is used to configure your ASC3N so that it will communicate with your Model A25S Absolute Encoder and optimize its performance Parity and Data Size are set to match those of the A25S Absolute Encoder Clock Rate and Clock Option Port Sele
13. and signs indicate true and complement signals respectively 3 Arrows indicate signal direction Using Multiple ASC3N s in Your Computer This section describes some rules that must be adhered to ASC3N s in your computer in order to use multiple Each ASC3N interface board must have its own unique I O base address 2 Ifinterrupts are used each ASC3N must have a unique IRQ 3 Board specific configurations need not match between different ASC3N s must match the encoders they are trying to communicate with In other words all the encoders connected to one ASC3N must have the same data word length encoder resolution and parity and that ASC3N must be set to match However a second ASC3N card in the same computer can be set to communicate with encoders of some other parity and resolution 18 level associated with it but they Device Drivers The ASC3N is designed to support the A25S Absolute Encoder s high update rate so that it may provide data with low latency and support closed loop servo control if necessary That is why the hardware design assumes 16 bit reads To provide compatibility with slower applications that require the high resolution and high accuracy from the model A258 Basic is supported by device drivers Basic needs a helper library to access the ASC3N The ASC3N requires 16 bit I O access and Basic only provides 8 I O bit access The supplied libraries provide 16 bit I O access through the functions i
14. ate leg of the cable harness and can cover distances much greater than 50 feet The cabling requires that the ASC3N RS 422 leg of the cable be spliced with the power supply cable at the A25S encoder electronics end Figure 9 illustrates the pin for pin connections required and the signals that should be used as pairs A DE 15P male D Subminiature connector is required at the ASC3N end and a DB 25S female D Subminiature connector is required at the encoder electronics end Connections to the power supply are defined by the user When the cable s are made plug the cable s 15 position male connector into one of the ASC3N s 15 position female connectors Likewise plug the cable s 25 position female connector into the Model A255 external electronics 25 position male connector You are now ready to test the system Refer to the next chapter Software Installation 17 Model ASC3N Model A25S Absolute Serial Encoder Interface Card External Electronics DE 15P DE 25S rien Twisted Pairs gt 50 feet l 40 Interrogate 3 l 10 Interrogate l l Interrogate 4 9 Interrogate l l Clock 10 Lp 22 Clock l l Data 14 lt L420 Data US l Regulated Power Supply tg Twisted Pairs 50 feet l 5VDC 1412 5VDC l l l Gnd l l 25 Gnd Gnd 24 Gnd Optional Case Gnd ba AE Case Gnd Figure 9 Long Haul Pin Connections Notes Unlisted pins are not connected 2
15. cluding the parity bit is an even number Expansion Slot Area inside your computer where expansion cards are installed Female Connector A connector with holes that can accommodate the pins found on a male connector Frequency The number of complete cycles per second Gray Code A binary counting system in which only one bit changes in going from one state to the next Hardware Any physical component of an electronic or computer system 33 Hexadecimal A notation in the scale base of 16 using digits 0 through 9 plus the letters A through F I O Abbreviation for input and output data Incremental Encoder Encoders providing logic states 0 and 1 alternately for each successive cycle of resolution Index A single output occurring once per revolution in incremental encoders Interface A working communication link between two or more computing devices Interpolation An electronic technique used to increase encoder resolution Interrupt A signal used to request service by the platform CPU ISA Industry Standard Architecture ISA Bus Bus type commonly found in IBM compatible computers Light Emitting Diode LED A device that emits light when current is applied Line Count The number of line pairs per revolution on an optical disc Link a circuit or transmission path between two points LSB Least Significant Bit The right most digit in a binary number Male Connector a connector that contains pin
16. ct are ASC3N performance configurations Refer to Figure 6 to aid in the configuration settings for jumper J3 Parity 1 position Configure this jumper position to match the parity of the Model A25S Absolute Encoder s that you are using with the ASC3N Note that all encoders must use the same parity Do not install a jumper in this position for even parity Install a jumper for odd parity Data Size 2 positions Configure these two positions so that they match the data size of the encoder s you are using Again the data size for each of the encoders must be the same The data size choices are 14 bits 15 bits 16 bits and 17 bits Refer to Figure 6 Board Specific Configurations Jumper J3 12 Clock Rate 3 positions Clock rate is the rate at which the board reads in the serial data from the encoders The clock rate is set the same for all three ports The range of the clock rate is 3 6 MHz all jumpers installed to 28 kHz no jumpers installed Set this to maximize the speed at which you wish the data to be read Important Note The clock rate setting will dictate how far the encoder can be from the ASC3N The SLOWER the clock rate the LONGER the distance from encoder to ASC3N can be If two or three encoders are used with the ASC3N the clock rate MUST be set so that the furthest encoder will transmit data correctly Set this position to a clock rate you think is adequate Test the encoder If the data is correct and you
17. d 1 4 What else you will need Be sure you have all of the necessary hardware and software before continuing Read section 2 1 Avoiding Configuration Conflicts Although for most installations the default factory settings for the ASC3N will not create configuration conflicts it is important that you be aware of the settings commonly used by other devices and computer functions Configure the ASC3N Go to section 2 2 Configuring the ASC3N Install the ASC3N in your computer Go to section 2 3 Installing Your ASC3N Connect the ASC3N to the model A25S Absolute Rotary Encoder Go to section 2 4 Connecting the ASC3N to the Model A25S Absolute Rotary Encoder Install the software drivers Go to section 3 Software Installation It is recommended that a short haul test cable be fabricated and one or more encoders be connected to the interface card to verify correct ASC3N configuration software installation and valid encoder behavior This is helpful to accomplish before tackling the various potential issues of long haul hook up including finding the maximum data transmission rate proper grounding RS 422 termination adjustments etc Package Contents Your ASC3N package contains One ASC3N Absolute Serial Interface Card Software Support Diskette This User s Manual Warranty and Suggestion Card The Diskette contains the following directories DOSASC3 directory This directory contains the files necessary to run th
18. e Test ASC3N programs under the DOS operating system EXAMPLES directory This directory contains example routines written in C Quick Basic and MS Visual Basic for Windows VBASC3 directory This directory contains the files necessary to run the Test ASC3N programs under the Windows operating system What Else You Will Need To use your ASC3N Absolute Serial Interface Card ensure that the following minimum hardware and software requirements are met e An available 16 bit expansion slot in any IBM AT or compatible computer with an ISA bus e One two or three Model A25S Absolute Encoders configured for serial data output For Gurley Test and Demonstration software DOS Demo e MS DOS 3 14 or PC DOS Windows Demo e Window 3 xx or Windows 95 e VGA or better video Avoiding Configuration Conflicts The ASC3N is factory preconfigured for an I O base address of 210 hex and the IRQ level set to none In most cases this will not conflict with other devices or functions in your computer However it is important that you become familiar with the configuration settings typically used by other devices and computer functions This information will aid in verifying that the preconfigured jumper settings are satisfactory for your installation This section provides helpful information for determining which I O base address and IRQ level settings you should select for your ASC3N Read this information carefully Input Output I O
19. ed 3 corresponds to the lowermost 15 pin connector on the ASC3N The field for any connector without an attached encoder should read zero Rotating the encoder in one direction should increase the count Rotating the encoder in the opposite direction should decrease it Rotating one full revolution should return the count to its original value Adjacent to the encoder output fields are Parity LED s used to indicate the status of the parity A green LED indicates that the parity is OK A red indicates that the current reading has had a parity error and a yellow LED indicates that a parity has occurred but the current reading is OK To reset a yellow LED back to green click on it with the cursor Monotonicity Testing The TEST ASC3N program can test encoders for monotonicity which verifies that all output codes are present and in the correct sequence It does this by sampling the encoder while it is slowly rotated through one complete revolution and reporting an error if any output code deviates by more than one count from the previous one 20 The sample rate of the ASC3N serial card must be faster than the encoder s output frequency or the encoder will fail the monotonicity test The output frequency of the encoder depends on its speed of rotation while the ASC3N s sample rate depends on its clock rate jumpers Use a short cable and set jumper 3 to the 3 6 MHz clock rate for best results The TEST ASC3N program requires uninterrupted acces
20. ers in column A3 through AO are for example only 300H is used here as an example base address X don t care 30AH Read Encoder 2 Data High Word Table 5 ASC3N Address Usage Status Register The status register of the ASC3N is used to indicate to the computer the condition of the data received by the ASC3N The status register s address is located at base address 2 hex Only 4 bits of the 16 bit word are used Figure 10 illustrates the bit positions and their meanings 22 9 S 329 0 0 0 9 9 0 9 09 9 79 0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Figure 10 Status Register DO Encoder 1 Parity 0 Good 1 Bad DI Encoder 2 Parity 0 Good 1 Bad D2 Encoder 3 Parity 0 Good 1 Bad D3 Data Shift Status 0 Done 1 Busy D4 D15 Always 0 when the status register is addressed The programmer has 3 methods that can be used to indicate when the data is correct and or ready to be read Interrupts Polling and Software Time Delays Interrupts Interrupts are used when a jumper is installed in one of the positions of Jumper J1 Refer to the section IRQ Level Jumper J1 in chapter 2 Configuring the ASC3N An interrupt signal will indicate to the computer that all of the serial data has been received by the ASC3N and can be read On the ISA compatible platform the interrupt signal is considered active by a low to high transition edge triggered When using interrupts each add on card must ha
21. get no errors the clock rate is acceptable To find the maximum clock rate increase the rate until a data error occurs and back off one level of clock speed Refer to Table 3 as a guide to selecting the optimal clock rate Table 3 Clock Rate Versus Recommended Maximum Distance Clock Option Port Select 3 positions These settings are reserved for factory use DO NOT install any jumpers in these locations 13 14 J3 RD CONFIG a jo Parity Even i Parity Odd i Data Size 14 Bits Data Size 15 Bits BE Data size 16 Bits BIE Data size 17 Bits Clk Rate 28 kHz Clk Rate 56 kHz Clk Rate 111 kHz Clk Rate 223 kHz Clk Rate 447 kHz Clk Rate 894 kHz Clk Rate 1 8 MHz Clk Rate 3 6 MHz Factory Use Only Do Not Use Figure 6 Board Specific Configurations Jumper J3 Installing your ASC3N This section describes how to install your ASC3N in a computer IMPORTANT The ASC3N must be properly configured prior to being installed If you have not configured your ASC3N please read the preceding sections Avoiding Configuration Conflicts and Configuring Your ASC3N To install your ASC3N ile Turn off and unplug your computer Do not plug it back in or turn in on until you finish the ASC3N installation Carefully take the cover off your computer Plug your ASC3N Interface Card into any available 16 bit ISA bus expansion slot inside Refer to the computer manufacturer s instructions Always handle the AS
22. he ASC3N A cable with a DE 15P male D Subminiature connector on one end and a DB 25S female D Subminiature connector on the other end must be made to link the ASC3N to Model A25S external electronics In this configuration each encoder has its own cable and receives power from the ASC3N Figure 8 illustrates the pin for pin connections that are required and the signals that should be used as pairs A multi conductor shielded cable should be used In the very simplest application a cable made of 4 twisted pairs may be used only one set of 5VDC and GND 16 Model ASC3N Model A25S Absolute Serial Encoder Interface Card External Electronics DE 15P DE 25S i Twisted Pairs lt 50 feet en Gnd 11 3 1425 Gnd Interrogate l 3 mg auge l Interrogate Interrogate 4 9 Interrogate Clock 10 4 L gt 22 Clock Data 14 1 120 Data Gnd 1211 124 Gnd Optional Case Gnd 6 3 Case Gnd Figure 8 Short Haul Pin Connections Notes 1 Unlisted pins are not connected 2 and signs indicate true and complement signals respectively 3 Arrows indicate signal direction Long Haul Connections If the encoder electronics is located further than 50 feet from the ASC3N the long haul connection scheme should be used In this configuration each encoder is supplied with power from a regulated power supply located within 50 feet of the encoder electronics The RS 422 signals to and from the ASC3N are located in a separ
23. he matrix Refer to the next page for more detailed definitions of causes amp effects An X at the intersection of an error condition row and error cause column indicates the possibility that they are related For example Blank Fields could be caused by I O Conflict Base Address Error or Defective ASC3N 7 e g8 O Jan e i Error Condition WwW Parity Error Blank Fields Monotonicity Errors Resolution Too Low Resolution Too High System Crashes Board Error Stuck Bits Non Zero Displays Rollover lt 2 U lt SISlelal l lalz oE E E fri Ra E E ES 5I3lz lslsl8 o zlelersp9p9ps lo sSlspslgl e9 up SQiolsis poljo2 Sg Qo 7 OF DO SYN 1 2 0o a x s o 2 x g amp S fol Ofc z2lol 2 ls olslsielss JAJA J ix x x x Pt TT bp pesca xix xxl x pego xy p T Alii iik Table 6 Troubleshooting Chart The following are explanations of error conditions and error causes Error Conditions Parity Error System Crashes Blank Output Fields Non Zero Display The monotonicity test reports a parity error Host Computer does not boot or shuts down unexpectedly The encoder output fields do not contain any values after the base address and resolution have been set The encoder output fields are not zero without an encoder connected 29 Error Conditions continued Monotonicity Error Rollover Resolution Too Low High Error Causes Base Address Error
24. l data outputs right from your computer The ASC3N provides all of the necessary signals to interrogate and read in the data from the encoder s The ASC3N and A25S transmit and receive data serially by RS 422 line drivers and receivers The A258 requires an active low interrogate pulse to initiate a rotary to digital conversion The ASC3N generates this signal and sends it on a separate line simultaneously to each of the three encoders When each encoder has converted rotary position into digital data the ASC3N starts reading and shifting the serial data into its on board shift registers The shift read clock is generated for all three channels in unison The rate at which the data is transmitted to the ASC3N is configurable by the user with jumpers located on the ASC3N Parameters such as the quality and length of the transmission line and application timing requirements will affect the maximum baud rate allowable The baud rate can be from 28 kHz to 3 6 MHz This corresponds to data update rates of from 1 000 to 100 000 encoder reads per second Also configurable via jumper is the data size and parity Data size is from 14 bits to 17 bits and parity can be even or odd It is important that when more than one encoder is used with the ASC3N the data size and parity be configured alike The ASC3N checks the parity of the incoming data and reports any errors to the status register which can be polled A busy signal bit in the status register or an in
25. lity This is achieved through three sets of jumpers J1 J2 and J3 which control IRQ level I O base address and board specific functions respectively Refer to Figure 3 for the location of these jumpers GURLEY PRECISION INSTRUMENTS loxa eIeTu n e n u J5 MODEL ASC 3 EARME e a a a a aja aja BRD CONFIG od eq AE ii Figure 3 Configuration Jumper Locations IRQ Level Jumper J1 The ASC3N interrupt signal indicates to the computer that all of the serial data has been sent to the ASC3N from the encoder and that the data can be read The interrupt signal is sent to the computer via a jumper at J1 Interrupt levels supported by the ASC3N are 5 7 9 10 11 15 or NONE Figure 4 illustrates the jumper locations for each of the IRQ levels supported by the ASC3N The interrupt level is selected by inserting a single jumper in the location of the IRQ level you wish to use 10 If no jumper is installed an interrupt will not be sent to the computer Interrupts are not required for correct operation of the ASC3N Programming methods such as polling the status register or implementing a time delay can also be used to determine when the data is ready for reading Refer to section 4 1 Address Usage and Status Register for more information on the status register and polling Interrupts and the programming techniques mentioned before are intended to indicate to the computer that the ASC3N has received all of the serial dat
26. ncoder 2 Dim Enc3addr As Integer holds address of Encoder 3 Sub cmdQuit Click End End Sub Sub Form Activate RunMode StopRun txtBaseAddr SetFocus End Sub Sub Timerl Timer If RunMode FreeRun Then dummy iogetl6 BaseAddr trigger interrogat lblEncOut 0 Caption Right 0000 amp Hex ioget16 Encladdr 4 lblEncOut 1 Caption Right 0000 amp HexS ioget16 Enc2addr 4 lblEncOut 2 Caption Right 0000 amp Hex ioget16 Enc3addr 4 End If End Sub Sub txtBaseAddr_GotFocus RunMode StopRun lblEncOut 0 Caption lblEncOut 1 Caption ids lblEncOut 2 Caption End Sub Sub txtBaseAddr KeyPress KeyAscii As Integer If KeyAscii 13 Then if CR RunMode FreeRun cmdQuit SetFocus KeyAscii 0 End If End Sub Sub txtBaseAddr_LostFocus i 1 txtBaseAddr Text LTrim RTrim UCase txtBaseAddr Text Do While Hex i txtBaseAddr Text convert Hex to Decimal i i 1 If i amp H3F0 Then Beep sgBox Base Address range must be 0 to 3F0 Hex 0 ERROR Exit Sub RunMode StopRun End If Loop BaseAddr i Encladdr BaseAddr 4 Enc2addr BaseAddr 8 Enc3addr BaseAddr amp HC End Sub 28 General Troubleshooting The troubleshooting chart is a matrix of error conditions and their causes The error conditions are listed in the leftmost column A list of possible causes appears along the top of t
27. nsmission standard which allows higher data rates and longer transmission line lengths It is intended primarily for use with twisted pair or flat cable Serial A type of communication between two pieces of equipment in which data is transmitted one bit at a time Software The program you use to tell a computer how to perform a task Transducer A device that converts an input into a different type of output An encoder converts angular information into electrical information Word A series of one to several bytes Word length is expressed in bits and bytes such as a 16 bit word a 4 nibble word a 2 byte word Word length is not standard 34 Appendix D Warranty and Return Policy Gurley Precision Instruments GPI does not warrant that the hardware will work properly in all environments and applications and makes no warranty and representation either implied or expressed with respect to the quality performance merchantability or fitness for a particular purpose of the software or documentation GPI reserves the right to make changes to the hardware and User s Manual content without obligation to notify any person or organization of the revision or change GPI warrants its products to conform to their published specifications and to be free from defects in material and workmanship for a period of one year from date of shipment This Limited Warranty is extended to the original end user and covers parts and labor Any product re
28. ny errors in data transmission Also the time is dependent on the ASC3N configuration of clock rate data size transmission line length and quality The programmer must allow for all of these factors in determining the length of time the program must wait before reading data from the ASC3N It is recommended that after the time delay has elapsed the programmer read the status register once to check for parity errors before proceeding with data reads 24 C Language Example KR KK IK Ck kk kk kk A I A A A A A I Kk I ke ke ke ek A C language program demonstrating how to interrogate an ASC3N Absolute Encoder Interface Card Date 9 14 95 Author Robert Williams Copyright Gurley Precision Instruments Revision 1 0 Compiler Borland C version 4 5 FER KK A A A A KC A k ck A A I I I I I e ke x I x f include lt stdio h gt include lt conio h gt int main int argc char argv int BaseAddress int StatusRegister long value int parity long i int key Test to see if a base addr was specified on the command line if argc 2 sscanf argv 1 x amp BaseAddress else BaseAddress 1 require a base address between 200 and 3f0 hex x x xkxx while 0x200 BaseAddress BaseAddress 0x3f0 if BaseAddress 1 printf x Hex is an invalid I O address for the ASC3N n BaseAddress printf Pleas nter the I O Address of ASC3N 200 to 3F0 scanf x amp BaseAddress
29. oget16 and ioput16 The two Basic helper libraries are called aeibl dll and aeib glb Both libraries contain the same functions Aeibl6 dll is a Windows DLL and aeib glb is in a format suitable for linking with Quick Basic and Visual Basic for DOS Utility Program for Test and Evaluation This section describes the installation and operation of the utility and testing programs Installation DOS Version 1 Insert the setup disk into a disk drive 6699 2 Type a at the DOS prompt where a is the letter assigned to the drive you put the disk in 3 Type dosasc3 install at the DOS prompt 4 Press the Enter key on your keyboard and follow the instructions on the screen Windows Version 3 1x 1 Insert the setup disk into a disk drive 2 In Program Manager choose Run from the File menu 3 Type a vbasc3 setup where a is the letter assigned to the drive you put the disk in 4 Click OK and follow the instructions on the screen Windows 95 1 Insert the setup disk into a disk drive 2 Click Start then click Run 66 99 3 Type a vbasc3 setup where a is the letter assigned to the drive you put the disk in 19 Overview The TEST ASC3N utility program can be used to test your ASC3N serial card The program comes in both a DOS and a Windows hosted version vbasc3 exe is the windows version and vdosasc3 exe is the DOS version The TEST ASC3N program has an easy to use graphical interface You move bet
30. s for connection to a female connector Memory The area where a computer stores data Memory can be permanent and unalterable ROM or flexible in its contents RAM MSB Most Significant Bit The left most digit in a binary number Natural Binary A notation in the scale base of 2 using digits 0 and 1 Nibble A series of 4 bits of binary data half a byte Odd Parity A check that tests the accuracy of transmitted data by setting the parity bit to a 1 or 0 so that the total number of 1s in the group including the parity bit is an odd number Parallel A type of communication between two pieces of equipment in which all of the bits of data are transmitted simultaneously Parity A way of checking the accuracy of transmitted data by counting the number of bits that have the value of 1 see Even Parity or Odd Parity Parity Bit A supplementary bit that is set to 1 or 0 depending on the number of 1 s that are contained in the data group Photodiode A device that converts light energy into electrical current Provides less signal but higher speed than a phototransistor Phototransistor A device that converts light energy into electrical current Provides more signal but is slower than a photodiode Quadrature Square Waves Two square waves out of phase by 90 electrical Random Access Memory RAM Memory that can be written to or read from Read Only Memory ROM Memory that can only be read from RS 422 A data tra
31. s to the ASC3N serial card for the duration of the monotonicity test It shuts off the computer s interrupts causing all screen and disk activity to cease for the duration of the test After the test is complete the TEST ASC3N program will enable the interrupts A monotonicity test is started by selecting the ON 1 ON 2 or ON 3 button under Test Monotonicity After the word TESTING appears on the screen rotate the encoder under test slowly one full revolution in either direction The word PASS will appear to the right of the selected button if the encoder passes the monotonicity test an error message will appear if it fails Table 4 lists error messages from the Monotonicity test Error Error Definition Possible Causes Error Error Error Definition Possible Causes Possible Causes Message Time Out The Monotonicity test software You tried to test an I O connector with no encoder could not detect any movement of connected to it The length of time it takes to time the encoder shaft out depends on the clock rate It will time out in 7 seconds at the fastest clock rate and 7 minutes at the slowest Board Error The board failed to respond to the The I O address specified in the TEST ASC3N monotonicity test software program does not match the ASC3N s jumper 2 configuration The ASC3N is not installed in the computer The ASC3N has an I O address conflict with another device in your computer The ASC3N is defective
32. terrupt request signal indicates to the computer if all of the data has been received by the ASC3N and it is ready to be read A simple I O read from the computer will input the 16 bit data word s from the ASC3N to the CPU Figure 1 illustrates typical short haul connections from the Model A25S absolute encoder to the ASC3N interface card using the computer s power supply to power the encoders Figure 2 shows typical long haul beyond 50 feet connections with separate encoder power sources located within 50 feet of the encoders See the A25S data sheet for additional supply recommendations and section 2 4 for cabling details ASC3N Interface Card A25S Encoder Electronics lt 25 ft Encoder Cable Analog Signals A25S Encoder Serial and Transducer Power Cable Optional CAMxxx Cable Assembly Available from GPI Figure Block Diagram of Short Haul Connections E ASC3N c nterface Card A258 Encoder Electronics lt 25 ft Encoder Cable Analog Signals Regulated Power Supply Serial and Power Wiring Max 50 ft Encoder Not supplied by GPI Transducer Figure 2 Block Diagram of Long Haul Connections How to Use This Manual This section lists the steps for installing and configuring your ASC3N Absolute Encoder Serial Interface Card in the order in which they must be performed It also tells you where to go in the manual for detailed instructions l Read sections 1 3 Package Contents an
33. turned under warranty is subject to inspection and testing at GPI User must return the product freight prepaid to the factory GPI at its option will repair or replace any product found defective free of charge Return freight charges are collect to the user This warranty is void if damage was caused by unreasonable or improper use including failure to comply with manufacturer s installation and operation instructions Damage from shipping is specifically excluded from warranty This warranty is exclusive and GPI makes no other representation of any other kind expressed or implied with respect to the product including its merchantability or fitness for a particular purpose Buyer s exclusive remedy to claims arising under this Warranty shall be the repair or replacement of the product or damages which will not exceed the purchase price of the product In no event including claims of negligence shall GPI be liable for incidental or consequential damages All brand and product names are the trademarks of their respective owners As part of our continuing effort to improve our customer service we have established an RMA NUMBER SYSTEM for returned goods If you have to send any products to us for any reason please observe the following procedure 1 Before you ship us anything call your salesperson for an RMA number Please have the model and serial number available 2 Make sure your product is properly packed so it is not damaged in
34. us expansion card slot 200 3F0 hex occupies 16 contiguous hex addresses user selectable IRQ 5 7 9 10 11 15 user selectable 14 15 16 and 17 bits user selectable Even or odd user selectable One two or three axes 3 female 15 pin high density DE 15S D subminiature connectors EIA RS 422 differential line receivers Encoder data MSB first parity last EIA RS 422 differential line drivers interrogate pulse and clock signal 3 6 MHz 28 kHz 100 000 reads per second 1 000 reads per second Model A25S absolute rotary encoder with serial output 5 VDC 500 mA max w o encoders 0 C to 70 C 32 F to 158 F 0 to 90 non condensing 20 C to 70 C 4 F to 158 F 0 to 95 non condensing Standard 4 length IBM PC Card 31 Appendix B Configuration Jumper Summary Data Size 15 Bits Data Size 16 Bits BE Data Size 17 Bits Clk Rate 28 KHz Clk Rate 56 KHz Clk Rate 111 KHz Clk Rate 223KHz Clk Rate 447 KHz Clk Rate 894 KHz Clk Rate 1 8 MHz IRQ Level Board Specific Configurations J1 IRQ d poooo00 s BRD CONFIG 111579 mes 510 id x 11 te Parity Even BEER Ra 15 digo EPI Li 0000 AM Ex sisse IRO 11 EE Data Size 14 Bits 1 IZe I PRERE IRQ 10 I IRQ 05 IRQ 07 IRQ 09 n Doo IRQ None I O Base Address J2 EERE RASS Ie e ADDRESS FET AAAAAA 987654 Clk Rate 3 6 MHz ala 5 El Address Bit is
35. ve a unique IRQ level See the section Avoiding Configuration Conflicts in chapter 2 When the CPU reads any ASC3N address the interrupt signal will be reset to a logical low Polling Polling of the status register can be used when interrupts are not desired The programmer simply reads the status register at intervals and waits for a specific value to appear before continuing on in the program The ASC3N s status register is designed so that it will return the value of 0000 hex when there are no parity errors and the data is ready to be read When this condition is true the programmer can then gather the data from the ASC3N and reinterrogate the A25S A value other than 0000 hex indicates that either there has been a parity error or the ASC3N is still busy receiving data from the encoder Bits D4 through D15 have been designed to return a logical 0 when the status register is addressed This eliminates the programmer having to perform bit masking techniques When an encoder is NOT connected to one or more of the ASC3N s ports a parity error for the unconnected port will NOT be generated This allows the test for zero routine to be implemented as a simple and rapid technique 23 Software Time Delays If the programmer desires not to use interrupts or polling a software time delay can be implemented This is simply a software loop that waits a certain time interval before reading the data from the ASC3N This technique does not report a
36. ween controls with the mouse or with the tab key Selections are made by clicking with the mouse or by pressing the enter key A help line at the bottom of the window describes the purpose of the control beneath the cursor After starting TEST ASC3N you need to specify an I O base address The ASC3N serial card comes from the factory preset to a base address of 210 If you changed the default setting you need to enter the new base address in the Base Addr field The TEST ASC3N program displays the ASC3N board configuration in the Hardware section Here it displays the settings for parity clock rate board version and resolution These settings should match those of the encoder If the settings are not correct make the necessary changes at the ASC3N board configuration jumpers If a jumper is placed in one of the factory reserved locations a hardware error dialog box will appear and will continue to display until the jumper is removed The ASC3N supports encoder resolutions of 14 through 17 bits 16 384 to 131 072 counts rev The Display selection box determines the radix of the encoder output display You can select a decimal hexadecimal or binary radix Once the TEST ASC3N program has been properly configured you can begin testing encoders You may connect up to three encoders to the ASC3N serial card at one time The three fields labeled 1 2 and 3 show the encoder outputs The field labeled 1 corresponds to the uppermost and the one label
37. ycles per Revolution two different and unequal expressions for describing rotary resolution GPI tends to avoid this vague and confusing acronym Data Information stored or processed by a computer Data Rate The speed at which a channel carries data measured in bits per second bps Decimal A notation in the scale base of 10 using digits 0 through 9 Differential Line Driver An integrated circuit IC which transmits true and complemented signals to a twisted pair or parallel wire transmission line Differential Line Receiver An integrated circuit IC which receives true and complemented signals from a twisted pair or parallel wire transmission line EIA Electronic Industries Association A US standards organization that specifies the electrical and functional characteristics of interface equipment such as EIA 422 or RS 422 connections Encoder Disc The optical disc containing radial lines in an incremental encoder or absolute encoded position in an absolute encoder Encoder Resolution In an absolute encoder this is the number of unique words per shaft revolution In an incremental encoder it is the number of counts per revolution Erasable Programmable Read Only Memory EPROM a nonvolatile semiconductor memory that can be erased usually by exposure to ultraviolet light Even Parity A check that tests the accuracy of transmitted data by setting the parity bit to a 1 or 0 so that the total number of 1s in the group in
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