PCI High Speed Interface User`s Manual
Contents
1. lt Back Cancel Choose CD ROM drives and make sure that the AccuRange PCI High Speed Interface installation CD ROM is loaded into the CD ROM drive prior to hitting NEXT The following box appears Found New Hardware Wizard Driver Files Search Results Na a The wizard has finished searching for driver files for your hardware device Sy The wizard found a driver for the following device PCI Device Windows found a driver for this device To install the driver Windows found click Next Jy S e install ar inf lt Back Cancel Acuit Laser Measurement User s Manual AR4000 PCI HSIF 4 y Windows found the appropriate driver on the e drive Hit NEXT Digital Signature Not Found x The Microsoft digital signature affirms that software has been tested with Windows and that the software has not been altered since it was tested The software you are about to install does not contain a Microsoft digital signature Therefore there is no guarantee that this software works corectly with Windows R4000 PCI Adapter Driver If you want to search for Microsoft digitally signed software visit the Windows Update Web site at http windowsupdate microsoft com to see if one is available Do you want to continue the installation No More Info The driver should be successfully installed Hit YES _ Found New Hardware Wizard Completing the Found New Hardware Wizard gt A2. If used motor 1 should be connected between this pin and pin 14 The output voltage level is varied as commanded to control the variable voltage motor Pin 15 Motor Power Ground The external power supply ground for the motors should be connected to this pin Pin 16 Motor 1 Ground If used motor 2 should be connected between this pin and pin 16 Pin 17 Laser Control A 0 5V signal used to turn the laser on or off Pin 18 5V power Primarily intended as power for the motor 2 encoder but it may be used to drive other hardware up to 100 milliamps maximum Pin 19 Motor 2 Encoder Channel A Positive input of motor 2 encoder channel A differential pair If the motor control option is installed on the board this input is decoded with pin 20 as a quadrature encoder signal from motor 2 The input should be a TTL level signal and may switch at up to 1 5 Mhz The encoder positions are converted to 8 bit position values that ate included in the data stream Each transition of pins 19 or 20 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 20 Motor 2 Encoder Channel B Acuity Laser Measurement User s Manual AR4000 PCI HSIF 19 Positive input of Motor 2 encoder channel B differential pair If the motor control option is installed on the board this input is decoded with pin 19 as a quadrature encoder signal from motor 2 The input should
3. Pin 24 General purpose input bit 1 Motor 1 index pulse input This may be used to sample external signals The value of the bit is included in the sampled data stream This pin is intended to sample motor encoder index pulses or other events to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level following sample This is intended for use with encoder index pulses Pin 25 General purpose input bit 3 This may be used to sample external signals The value of the bit will be inverted and inserted into the sample data stream This may be used to sample events in order to synchronize the sample data with the event e User s Manual AR4000 PCI HSIF 16 Acuity Laser Measurement 1 6 3 2 P2 Pin Descriptions Differential Encoders Below is a table of pin descriptions for a PCI HSIF card with Differential Encoders Top Row Bottom Row Function Direction Pin Function Direction Motor 2 Control Out Motor Control Out Motor 2 Return Out Motor Power Ground Motor Power Supply In Motor Return Out Ground Laser Control Out 5V Power 100 mA Out 5V Power 100 mA Out Motor 2 Encoder Ch A In Motor 2 Encoder Ch A In Motor 2 Encoder Ch B In Motor 2 Encoder Ch B In Motor 1 Encoder Ch A In Motor Encoder Ch A In Motor 1 Encoder Ch B In Motor Encoder Ch B In Ground General Purpose Input 1
4. double ambient ambient light double amplitude reflected signal strength BOOL timeout sample measurement timeout DWORD rawRange uncalibrated range HSIF_PROC_SAMPLE Notes A timeout will be set if no range reading from the AR4000 was detected after 13 ms This can be used to detect if the range cable from the AR4000 is disconnected User s Manual AR4000 PCI HSIF 25 Acuity Laser Measurement 1 7 9 Load calibration file Load calibration file for the sensor card pair This file is shipped with each AR4000 and PCI HSIF card set The calibration file is used by ProcessSamples for generating true distance measurements BOOL HsifLoadCalibrationData HSIF_ HANDLE hsifCard LPCSTR filename filename name location for calibration file Returns HSIF_ SUCCESS Read successfully HSIF_FAIL File not found or File corrupted 1 7 10 Laser on Enable the laser HSIF_RESULT HsifLaserOn HSIF_HANDLE hsifCard Returns HSIF_ SUCCESS Laser on output successfully set HSIF_FAIL Laser on output set failed Note The current AR4000 sensors do not read this output from the PCI HSIF card To turn the laser on use the serial command H User s Manual AR4000 PCI HSIF 26 Acuit y Laser Measurement 1 7 11 Laser off Disable the laser HSIF_RESULT HsifLaserOff HSIF_ HANDLE hsifCard Returns HSIF SUCCESS Laser on output successfully set HSIF_FAIL Laser on output set failed Note The current AR40
5. 100 lookuphs 10000 500 1 6 3 3 Demonstration Program Three dist_cap dist_cap is a command line program built from the project dist_cap located in directory examples dist_cap on the CD dist_cap captures unprocessed raw data from the AccuRange sensor and records it to disk Afterwards it processes the raw data and creates several output files which can be loaded into programs such as Matlab or Excel for analysis It takes 6 command line arguments The serial COM port number the installed card number the sample period in microseconds the name of the file containing the calibration data the number of samples to read per call to the driver number of calls to the driver the max range of the sensor 650 inches for full range and the capture file base name As an example the following command line entry would be used to start dist_cap for an AccuRange attached to comport 1 using the first installed PCI HSIF card and lookuphs calibration file This example captures 70 000 continuous samples t a 5us sampling period 200kHz sampling rate from the Accurange via 10 calls for 7 000 samples to the driver The max range is set to 650 inches dist_cap 1 1 5 lookuphs 7000 10 650 my_cap dist_cap will generate a readable file with processed distances called my_cap txt 1 6 3 4 Demonstration Program Four hs_enc hs_enc is a command line program built from the project hs_enc located in directory examples hs_enc on the CD hs_enc sa
6. bus in a 16 byte format that includes a 32 bit range value two 32 bit encoder values and 1 byte values for signal strength ambient light and sensor internal temperature and general purpose input bits These inputs along with external enable disable control of sampling allow precise synchronization with external events The interface board operates by measuring the range dependent pulse width output of the AR4000 To use the 4000 sensor with this High Speed Interface the Current Loop option must not be installed in the sensor Each pulse on the pulse width output is timed on the interface board by a timer with a clock rate of 8 GHz The sample rate of the interface is therefore controlled by the sample rate configuration for AR4000 device Since the pulse width output can be set to repeat at up to 50 KHz that is the maximum sample rate of the interface The data collected by the PCI High Speed Interface is not scaled or calibrated in any way It can be used to create calibrated distance output using software modules and tables supplied with the interface or though user written algorithms The data can be used to calculate distance as each sample is collected although the more typical application will collect a batch of samples and create distance readings from the entire group after high speed collection is finished Data may be collected in a buffered streaming mode or a low level direct access mode Other features of the interface include mem
7. range default is 650 inches samplePeriod Period between samples in microseconds Returns HSIF SUCCESS Read up to numSamples successfully HSIF_ WARN COM Sample period updated internally but an invalid com handle was specified and thus no serial communication with the AR4000 was attempted HSIF FAIL Read failure Possible bad HANDLE or card not esponding User s Manual AR4000 PCI HSIF 24 Acuity Laser Measurement 1 7 8 Process samples Calculates calibrated range measurements using the samples retrieved after a call to HsifGetBufferedSamples HSIF_RESULT HsifProcessSamples HSIF_HANDLE hsifCard HSIF_SAMPLE sampleBuf HSIF_PROC_SAMPLE procSampleBuf DWORD numSamples HSIF_SAMPLE sampleBuf samples retrieved from HsifGetBufferedSamples call HSIF_PROC_SAMPLE procSampleBuf buffer to store results after processing samples DWORD numSamples Number of samples to process Returns HSIF_ SUCCESS Processed numSamples successfully HSIF_OVERFLOW Hardware overflow bit was set in one of the samples HSIF FAIL Read failure Possible bad HANDLE or card not responding Results Format HsifProcessSamples contains results in the following format typedef struct USHORT status FIFO and encoder index latches double anglel motor 1 angle from offset in radians double angle2 motor 2 angle from offset in radians double distance calibrated distance in inches double caltemp calibrated temperature
8. the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level the following sample This is intended for use with encoder index pulses Pin 25 General purpose input bit 3 This may be used to sample external signals The value of the bit will be inverted and inserted into the sample data stream This may be used to sample events in order to synchronize the sample data with the event 1 7 HSIF Library Routines The AR4000 PCI High Speed Interface card application program interface API employs routines that are accessed using a static linked library Descriptions of those basic API s are listed below User s Manual AR4000 PCI HSIF 20 Acuit y Laser Measurement 1 7 1 Initialize the library Initialize the library before using any of its functions BOOL HsifD1lInit Returns TRUE library initialization successful FALSE library failed to initialize 1 7 2 Opening communications with the card Open communication with a PCI HSIF card HSIF_HANDLE HsifOpen DWORD hsifNum DWORD comHandle hsifNum Open communication with a PCI HSIF card hsifNum is a number 0 4 denoting the card number assignment If hsifNum is 0 the first available HSIF device is returned as enumerated by Windows comHandle fa serial port is dedicated to the AR4000 sensor a handle to the opened COM device can be included here The AR4000 will ena
9. value to select which encoder will be cleared ENCODERI1 clear encoder 1 ENCODER2 clear encoder 2 ENCODER1 ENCODER2 clear both encoders withIndex Set to the following value to select when the encoder will be cleared TRUE clear the encoder when the index pulse is set FALSE clear the encoder immediately Returns HSIF SUCCESS Set the motor power successfully HSIF_FAIL Failed to set the motor power User s Manual AR4000 PCI HSIF 30 Acuity Laser Measurement 1 7 20 Calibrate encoder Calibrate the encoders to return the proper angle in radians based on an offset and the number of counts per revolution The motor angle is calculated as 2 m encoderCount offset countsPerRev HSIF_ RESULT HsifCalibrateEncoder HSIF HANDLE hsifCard DWORD encoder DWORD offset DWORD countsPerRev encoder Encoder 1 or 2 offset Encoder count offset countsPerRev Number of counts per revolution Returns HSIF_ SUCCESS Calibrated the encoders successfully HSIF_FAIL Failed to calibrate the encoders 1 7 21 Calibrate HSIF card The PCI HSIF card must be calibrated to ensure accurate range readings in a given enviornment This must be performed at least once after calling HsifOpen Calibrations should be performed periodically if the environmental conditions the card is exposed to will vary The procedure takes several seconds to perform HSIF_RESULT HsifCalibrate HSIF_HANDLE hsifCard Returns H
10. which the AccuRange is attached the card number of the installed High Speed Interface card and the calibration file See the source code for more info As an example the following command line entry would be used to start hsiftest for an AccuRange attached to comport using the first installed PCI HSIF card and lookuphs calibration file hsiftest 1 1 lookuphs Once hsiftest is started follow the instructions on the screen 1 6 3 2 Demonstration Program Two Distance distance is a command line program built from the project distance located in directory examples distance on the CD included with the PCI HSIF card User s Manual AR4000 PCI HSIF 9 Acuity Laser Measurement distance samples data from the High Speed Interface and prints distance in inches as well as averaged data obtained from the interface It takes 5 command line arguments The serial COM port number the installed card number the sample period in microseconds the name of the file containing the calibration data the number of samples to calibrate and average between printouts to the screen and the total number of range captures to print before exiting The following command line demonstrates the program distance for an AccuRange connected to comport 1 and interface card 1 a sample rate of 10 000 samples sec 100ps sample the calibration file Lookuphs 10 000 averages per output line and prints 500 lines of range capture data before exiting distance 1 1
11. 00 sensors do not read this output from the PCI HSIF card To turn the laser off use the serial command L 1 7 12 Sampling enable Enable sampling of range data from the AR4000 sensor This function must be called after HsifClearSampleBuffer since that function automatically disables sampling after clearing the sample buffers HSIF_RESULT HsifSamplingEnable HSIF_HANDLE hsifCard Returns HSIF_ SUCCESS Sampling enabled successfully HSIF FAIL Sampling enable failed 1 7 13 Sampling Disable Disable sampling of range data from the AR4000 sensor HSIF_RESULT HsifSamplingDisable HSIF_HANDLE hsifCard Returns HSIF SUCCESS Sampling disabled successfully HSIF_ FAIL Sampling disable failed User s Manual AR4000 PCI HSIF 27 Acuity Laser Measurement 1 7 14 Clear overflow Clear the hardware and software buffer overflow flags HSIF_RESULT HsifClearOverflow HSIF_ HANDLE hsifCard Returns HSIF_ SUCCESS Overflow cleared successfully HSIF_FAIL Overflow clear failed 1 7 15 Clear sample buffer Clear all samples that have been buffered into hardware and software HSIF_RESULT HsifClearSampleBuf fer HSIF_HANDLE hsifCard Returns HSIF SUCCESS Samples cleared successfully HSIF_ FAIL Sample clear failed 1 7 16 Get number of samples available in buffer Return the number of samples available to be read HSIF_RESULT HsifDataAvailable HSIF_HANDLE hsifCard DWORD numSamplesAvailable numSamplesAvai
12. Acuity Laser Measurement AccuRange High Speed Interface PCI Formats User s Manual Rev 6 2 For use with AccuRange HSIF PCI July 18 2005 Acuity A product line of Schmitt Measurement Systems Inc 2765 NW Nicolai St Portland OR 97210 www acuityresearch com PCI HSIF User s Manual Rev 7 05 Acuity Laser Measurement Limited Warranty Acuity a division of Schmitt Measurement Systems Inc makes the following limited warranties These limited warranties extend to the original purchaser and to no other purchaser or transferee Limited One Year Parts and Labor Warranty Acuity warrants this product and its parts against defects in materials or workmanship for a period of one year after the date of original retail purchase During this period Acuity will at its option repair or replace a defective product or part without charge to you Warranty Conditions The above LIMITED WARRANTIES are subject to the following conditions 1 Warranties extend only to products manufactured by Acuity 2 Warranties extend only to defects in materials or workmanship as limited above Warranties extend only to defects which occur during normal use and do not extend to damage to products or parts which results from alteration repair modification faulty installation or service by anyone other than an authorized Acuity service center damage to products or parts caused by accident abuse misuse or maintenance mishandling misa
13. F SCHMITT MEASUREMENT Acuity Laser Measurement User s Manual AR4000 PCI HSIF iii TABLE OF CONTENTS 1 ACCURANGE PCI HIGH SPEED INTERFACE HSIF CARD seesesesseesserseseseeceserosoeseeecoereseeecoesosoeseseseeee 2 1 1 GENERAL DESCRIPTION 3 2 ses esesseizestiseiccseoseietetisasgescesniaezeisnss cbeivedgestesasdescosndaerss snibesebiedarstecnsbeiesuniaraebindbraes 2 1 2 HSIF CARD INSTALLATION 03 0 civeiscscisossescssesacstssestescoveuseetisnsiescussdbnetaseitevesveiseets seigevevesdanstssnsirvedieesnetiunsciaes 3 1 2 1 Windows 2000 driver installation cccccsccsccssecssesscssesscuseeseeseessesesseessesesacesecaeesecsaeeseaeeatesesaeeseeeaeeeenees 3 1 2 2 Windows XP driver installation cccsccccssccssesscsssesesecseesecceeecsessesaeccsesecacesecaceacesscaeeeeesaeesesaeeasesaseeseasenes 6 1 3 INCLUDED SOFTWARE iiisicsd sssccsvivedsestivescescisediestssestcscdvnigensivescestbvedaeecsseigcbeuvnipentiseivcatauedansciues rbevsnignetiani nat 9 LBA GDDUECIORY Trel ianea erea ia a E E E EEE ES A E EE aE E NO EEE E NAA 9 13 2 Demo stratioh Programs a sissiiccsiesiass sansibanueeisehezed slaiaxeastasssnasneaateaacasadtssascdvecsens E VE REET E NERE 9 1 4 SENSOR CONFIGURATION AND SAMPLE RATE csccccsssssescsseseescsseseeecseeseescsssseeecnessescnsesesecnseseesenesseeneneeness 11 1 5 MOTOR POWER sie cssiceiieecisest ei nan E NEARE E AAAA ETARE ER EEPE ET AEAEE EERE 11 1 6 VO CONNECTORS EA S E A lotdidestaiedenss 12 1 6 1 9
14. I Adapter Driver Click Finish to close the wizard lt Back Cancel When the hardware is installed choose FINISH e User s Manual AR4000 PCI HSIF 8 Acuit y Laser Measurement 1 3 Included Software 1 3 1 CD Directory Tree The HSIF product includes a CD with the following contents install driver installation files dil dynamic link library installation files docs API and Users Guide examples bin precompiled programs built under Windows XP examples hsiftest example hsiftest project and source code examples dist_cap example dist_cap project and source code examples distance example distance project and source code examples hs_enc example hs_enc project and source code with encoder examples utilities serial interface and dynamic link library utilities calibration calibration files for sensor and PCI card 1 3 2 Demonstration Programs Two demonstration programs with C source code which run under Windows 2000 XP are supplied with the AccuRange High Speed Interface hsiftest distance dist_cap and hs_enc The programs were compiled with Microsoft Visual C 6 0 under Windows XP 1 6 3 1 Demonstration Program One hsiftest hsiftest is a command line program built from the project hsiftest located in directory examples hsiftest on the CD hsiftest exercises all off the features of the High Speed Interface It takes 2 command line arguments the serial communications port number to
15. In Encoder Index Pulse General Purpose Input 2 In Encoder 2 Index Pulse General Purpose Input 1 Encoder Index Pulse In Start Stop Sample Ctrl In General Purpose Input3 In General Purpose Input 2 Encoder 2 Index Pulse In P2 I O Connector Pin 1 Motor 2 Control If used motor 2 should be connected between this pin and pin 2 The output voltage level is varied as commanded to control the variable voltage motor Pin 2 Motor 2 Return If used motor 2 should be connected between this pin and pin 1 User s Manual AR4000 PCI HSIF 17 Acuity Laser Measurement Pin 3 Motor Power The external power supply for the motors should be applied to this line at 12 to 15 Volts depending on the motor used The line may draw up to 2 amps Pin 4 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 5 5V power output Primarily intended as power for the motor 1 encoder but it may be used to drive other hardware up to 100 mA maximum Pin 6 Motor 2 Encoder Ch A Negative input of motor 2 encoder channel A differential pair See pin 19 for functional description Pin 7 Motor 2 Encoder Ch B Negative input of motor 2 encoder channel B differential pair See pin 20 for functional description Pin 8 Motor 1 Encoder Ch A Negative input of motor 1 encoder channel A differential pair See pin 21 for functional description Pin 9 Motor 1 Encoder Ch B Negat
16. Laser Measurement If the one or more of the Interface tests fail check the port address you give the diagnostic software Also make sure that no other boards in the computer system are using the address group Verify that the serial port the sensor is connected to is the port number you give the diagnostic software Check that the sensor s serial port is configured for 9600 baud If the sensor stability tests fail check that the laser comes on during those tests and that the sensor is pointed a white target 1 to 2 yards from the sensor Acuity Laser Measurement User s Manual AR4000 PCI HSIF 38
17. Pin Power and Signal Connector Pl cccccecccescesccesscesscesecesecssecsseeseeeseesseeseeeseeeseceseseaesaaessaeeeeeaaeeneees 12 1 6 2 Power and Signal Connector Description cccccccssessesecsseesenseeseeseeseesecaeesecuseeceaeesessecaeesesueeeeesesneeseens 12 L603 23 PnNO CONNCCIONP sists cess choos std oaea a E E A T A 12 1 7 ISTE LIBRARY ROUTINES 330 d 2555 320315 cideavostescas eie sadesteteutstayceaessveseutessscsucestoneobebes Cskenstontosestocencssaesvaaestesgaces 20 17 41 Anitialige the HDi ry sssscisassciisvsieassssssuide distance tesledeaaove cians pea a dadk atlas 21 1 7 2 Opening communications with the CArd ccccccscssccssesceseeseesecseeseceeacesecacesecsseeeeaeeseesecaseseeaeeeeceaeeneeeees 21 F73 Closing access to The CATE yssiron niigi ee Milde Gata eisie ae Rei 22 1 74 Sampling mode initialization cccccceccescceecseecesecesecusecusecseecaeeeseeeseesseeseceseeseeeeeeeeeceaeseaecaesaecaeseseeeneees 22 L73 Reset PCLASIF CAPA wsswciscesscsiesss tictatisadtacistity Vac vibes bi bidet sists asd hte Nee nadiabgea dass pint cccdbe E an 22 17 6 Get Buffered SAMpleS sisisi tac ai tists Shaieiesivide ees ae seed hag das eee a had aiaiai el 23 1 7 7 Set sample period and maximum range w sesecesecsceescseseenseeseeecnseeseeseeseesecaeesecuseesesaeeseeaecaeesesseeeeenaseeeeaees 24 L78 Process SAMPLES ciccssestssecsaetctevetascetsnsubetiabnd buevarteViessbvise von sudeteeod ovevdvvaetcbysebureawentevesuedsevseneadevsbnbe
18. R 4000 PCI Adapter Driver Windows has finished installing the software for this device To close this wizard click Finish lt Back Cancel Installation is complete Hit FINISH e User s Manual AR4000 PCI HSIF 5 Acuit y Laser Measurement 1 2 2 Windows XP driver installation Be sure the installation CD ROM is in the drive and turn on the power to the PC Welcome to the Found New Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Next lt Back Next gt Cancel Hit NEXT The following dialog box appears Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for PCI Device C If your hardware came with an installation CD lt 4 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Click Next to continue lt Back Cancel Choose Install from a list or specific location Advanced and hit NEXT appears User s Manual AR4000 PCI HSIF 6 The following box Acuit Laser Measurement y Found New Hardware Wizard Please choose your search and installation options as Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed IV
19. SIF_ SUCCESS Card was calibrated successfully HSIF_FAIL Failed to calibrate the card User s Manual AR4000 PCI HSIF 31 Acuit y Laser Measurement 1 7 22 Set poll mode Enable polling mode when the sample period is large If this is set to FALSE there will be a latency of 2048 samples between transfers from the HSIF card buffer to PC s local memory HSIF_ RESULT HsifSetPollMode HSIF_ HANDLE hsifCard BOOL mode Returns HSIF_ SUCCESS Poll mode was successfully set HSIF_FAIL Failed setting poll mode 1 8 Serial I O Utilities The Serial I O Utilities comprise a set of functions for accessing the AR 4000 sensor through the serial port These functions are used internally by the HSIF Library for setting the resolution and range of the AR 4000 sensor if the address of an open COMMINFO struct is passed to the HsifOpen routine when opening access to the card or during a call to HsifSetSamplePeriod 1 8 1 Open a com port to communicate with an AR 4000 sensor Open a com port at the baud rate specified BOOL OpenPort COMMINFO pCommInfo int baudrate int Portnum pCommInfo_ pointer to a COMMINFO struct where relevant com port information is stored baudrate baud rate the sensor is configured for Normally this is 9600 Portnum com port number to open Returns TRUE Com port was successfully opened FALSE Com port open failed User s Manual AR4000 PCI HSIF 32 Acuit y Laser Measurement 1 8 2 Cl
20. Search removable media floppy CD ROM T Include this location in the search D 7 Browse C Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware EE Choose the selection that will read from your CD ROM drive and hit NEXT Found New Hardware Wizard Please wait while the wizard searches Na s Y o PCI Device Next gt Cancel _ e User s Manual AR4000 PCI HSIF 7 Acuit Laser Measurement y This dialog box appears while the system searches for the PCI driver Hardware Installation a A The software you are installing for this hardware AR 4000 PCI Adapter Driver has not passed Windows Logo testing to verify its compatibility with Windows xP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway E This dialog box confirms the hardware driver selection Choose Continue Anyway Found New Hardware Wizard 7 Completing the Found New nS Hardware Wizard SS The wizard has finished installing the software for s R4000 PC
21. be a TTL level signal and may switch at up to 1 5 Mhz Pin 21 Motor 1 Encoder Channel A Positive input of motor 1 encoder channel A differential pair If the motor control option is installed on the board this input is decoded with pin 22 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 Mhz The encoder positions are converted to 8 bit position values that are included in the data stream Each transition of pins 21 or 22 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 22 Motor 1 Encoder Channel B Positive input of motor 1 encoder channel B differential pair If the motor control option is installed on the board this input is decoded with pin 21 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 Mhz Pin 23 General Purpose Input 1 Encoder 1 Index Pulse Negative input of motor 1 index pulse differential pair or general purpose input 1 See pin 24 for functional description Pin 24 General purpose input bit 1 Motor 1 index pulse input Positive input of motor index pulse differential pair or general purpose input 1 This may be used to sample external signals The value of the bit will is included in the sampled data stream This may be used to sample motor encoder index pulses or other events in order to synchronize
22. bevasey en 25 179 Lod calibration filesinin neeo tattsaneetag sbcbl evattnes bb aasigndieasi sshd se EA 26 1 7 10 VEAR seus EE A E A E A E E neekacgebeSbacsewdegeuveesubesdoeveanyne 26 1 7 11 VEA AE E E E E E A E E E E 27 1 7 12 SGINPLING CMADLS sce s2esdecicacs ciias okie iea ora eaeoe iae eaae ia E RO e RAEE 27 1 7 13 Sampling Disable zinosidan iinis ae ii aE EE EEA EE EEA E ARR E 27 1 7 14 Clear Overflow orein ene eE a oE a EE EE ETIESE EEE E E EEE E EE 28 1 7 15 Clear Sample buffer surare tak tect ied E EAE R EE A E RAA 28 1 7 16 Get number of samples available in buffer c ccccccscesccecesceeseesceseeeeeecaceeceseeeceaeeseeaeeasesesaeeeeceasenseaees 28 1 7 17 Get overflow StAUS ursii irie E E EEE ERER RR EE EE OERE RERE 29 1 7 18 Set MOTOT POW T iriisroriecsioeiri sieri EEEE EEE ARE EERE E EREA EEA EEE RRIT 29 1 7 19 Clear motor position encoder accumulator sessesesseseeseeesreressserrereserrresrerreesresreserrreseseresesreernee 30 1 7 20 Calibrate encoder oe eccceccceccceseceseesseesseeseesseessesesceescescesecaecusecsaecaaecaaecaeesseeeseeeaeeeeeeeeseeeceeeeasenaeents 31 1 7 21 Calibrate HSIF card ccccccccesscesscsseesseeseesseesseeseesceesnessecsesueecuaecsaecaaecaaecaeeeaeeeseeeseseeeeeeeeeeeeeeaeenaeents 31 1 7 22 Set poll MOC eeeeeccecesecesesssesecseesecnseeceseesessecssesecscescesseeceaecseesecsaeseesaeesesaecaeesecaeeseenaeeeeeaesseenaeeeeeaseaes 32 1 8 SERIAL V O UTILITIES csecescsesests vosesessvoseese de stes secvecbest ssi
23. ble the PWM output and set the sample period and maximum range to their default values Returns HSIF HANDLE handle 0 4 to hsifCard resource HSIF INVALID HANDLE invalid or null handle Acuity User s Manual AR4000 PCI HSIF 21 i surement 1 7 3 Closing access to the card Close the application s access to the PCI HSIF card Calling the card with an invalid handle is not destructive HSIF_ RESULT HsifClose HSIF_ HANDLE hsifCard Returns HSIF_ SUCCESS the HSIF card closed successfully and the resources are freed HSIF_FAIL the HSIF card failed to close because the specified card was not open 1 7 4 Sampling mode initialization Set HSIF card to sampling mode This must be done before the card will capture samples HSIF_RESULT HsifSamplingModelInit HSIF_ HANDLE hsifCard Returns HSIF SUCCESS sampling mode entered successfully HSIF_FAIL unable to enter sampling mode 1 7 5 Reset PCI HSIF card Performs a hardware reset of the PCI HSIF card After this all initialization must be performed again HSIF_ RESULT HsifResetBoard HSIF HANDLE hsifCard Returns HSIF_ SUCCESS the HSIF card was successfully reset HSIF_ FAIL the HSIF card reset failed User s Manual AR4000 PCI HSIF 22 Acuit y Laser Measurement 1 7 6 Get Buffered Samples This function gets up to numSamples samples from the HSIF card or waits until numSamples have been received if wait is set to TRUE The number of samples read is r
24. d Since the overflow flag is stored with the buffered data resetting the flag will not become evident in the data until the data in the buffer has been read or the buffer has been cleared with a board reset command Note that if the buffer is full when the HsifClearOverflow command is given it will simply be set again immediately User s Manual AR4000 PCI HSIF 36 Acuit y Laser Measurement Inputs 1 2 3 3 general purpose input lines CMOS logic levels These may be used to determine the exact times of external events relative to the samples taken Inputs 1 and 2 are set on the positive rising edge of signals input to these pins After the next sample is written the inputs are automatically cleared Input 3 is a general purpose level sensed input Motor 1 2 Encoder Index Indicates when a motor has completed a revolution When Inputs 1 and 2 are used to indicate motor encoder index they will be unavailable for use as general purpose inputs Motor 1 Encoder Position 32 bit sample of the position of motor encoder 1 if the motor control option is installed and a motor encoder is attached to the P2 motor 1 encoder inputs The position will wrap to 0 after reaching 4 3 billion Motor 2 Encoder Position 32 bit sample of the position of motor encoder 2 if the motor control option is installed and a motor encoder is attached to the P2 motor 2 encoder inputs The position will wrap to 0 after reaching 4 3 billion 1 10 Interface Ins
25. e descriptions for P1 are the same as the descriptions of the power and signal lines in the AR4000 Power and Signal Cable Wire Description section Pins 1 4 supply sensor power and sensor heater power and ground lines The remaining lines are inputs for the signals from the AR4000 sensor Pins 5 7 and 8 are the inputs for the analog signals with 2K impedance Pin 6 is the input for the pulse width range signal 1 6 3 25 Pin I O Connector P2 P2 includes general purpose input lines a sample start stop control line quadrature encoder input lines and power for encoders or other applications There are two configurations one for a A e User s Manual AR4000 PCI HSIF 12 AAcuit y single ended encoder and one for an index pulse and one for a differential encoder and index pulse 1 6 3 1 P2 Pin Descriptions Single Ended Encoder Below is a table of pin descriptions for a PCI HSIF card with Single Ended Encoders See section 1 4 3 2 for Differential Encoders Top Row Bottom Row Function Direction i Function Direction Motor 2 Control Out Motor 1 Control Out Motor 2 Return Out Motor Power Ground Motor Power Supply In Motor 1 Return Out Ground Laser Control Out 5V Power 100 mA Out 5V Power 100mA Out Ground Motor 2 Encoder Ch A In Ground Motor 2 Encoder Ch B In Ground Motor 1 Encoder Ch A In Ground Motor 1 Encoder Ch B In Ground Ground Ground General Purpose Input 1 Encoder 1 Index Pulse In Start Stop Sample Ctrl I
26. e venten PRESSEN ESEE eE ESES ESAE SETEN Eas Se aa EEVA NEE 32 1 8 1 Openacom port to communicate with an AR 4000 Sensor sesesseeeseeesseeeeseesesresrnerrereserrresrsreesese 32 L62 Closec m pott iraan iene E RE E EE E E E E E A 33 LSS Purse pollere E E R E E E E E veceneredacpeneatoywebionau 33 1 8 4 Send serial data to the AR 4000 Sensor eccsccessessesscssesscsseeeeuseeseeecuseesesecseesecaeesecuaeeeesaeeseeaecaeeseeaeesaees 34 1 8 5 Read a line of characters from the AR 4000 sensor sossossseeeeneeseeeesrsreesrsreesesreernserrresesreesesreessse 34 1 8 6 Read binary data bytes from the AR 4000 SCnsOP scsccssescessesseseeseeseceesecuseecesecuceeeceaeeseeaeeaeeeeneeseees 35 1 9 SAMPLED DATA FORMAT sisorisreiserhirisro iere EAEE KANAE ARARA KEA ERRERA AAE ER ERA KAATER EER OA KANAE ER ERRAKORE 35 1 9 1 Description of Sampled Data FOrimdt cccccccccceecceescesscesecesecusecseeeseeeseeseeeeeseeseeeceaesesesaesaeeeeeseeeaeees 36 1 10 INTERFACE INSTALLATION AND CHECKOUT scsccscssesesesseseesevsessesevsesscsessessesessessesesseseessvsessesevsessesesoesees 37 1 10 1 DIGONOSTICS acessebtsichccsteseattescanceateceneean e E E E E S 37 e User s Manual AR4000 PCI HSIF 1 Acuity Laser Measurement 1 AccuRange PCI High Speed Interface HSIF Card 1 1 General Description The AccuRange PCI High Speed Interface PCI HSIF is an interface computer board that takes samples from the AR4000 optical rangefinder Samples come over the
27. erface is controlled by the rate of the pulse width output of the AR 4000 using the Set Sample Interval command over the serial port will set the sample rate for the Interface with one limitation The lowest rate at which the internal sampling and therefore the pulse width output of the sensor can operate is 31 samples per second 32 milliseconds per sample Setting lower sample rates will not reduce the pulse width output frequency or the sample rate of the Interface To obtain the slowest possible sample rate from the High Speed Interface and the maximum resolution per sample use the serial interface to configure the 4000 for a maximum expected range of 9950 inches and then set the sample rate Setting the maximum range to shorter distances including the default setting may cause the pulse width to repeat at higher frequencies than the sample rate set depending on the maximum expected range and sample rate specified For short maximum range settings the pulse frequency will be about 5 KHz for sample rates below that The maximum sample rate is 50 000 samples per second 20 microseconds sample 1 5 Motor Power The AR4000 PCI High Speed Interface has two motor power control and encoder reading channels Each motor may be set to one of 256 software controlled power levels via commands to the board If the motors have encoders which are connected to the encoder inputs two 8 bit values from the encoders are decoded and inserted into the data s
28. eturned in numRead HSIF_RESULT HsifGetBufferedSamples HSIF HANDLE hsifCard HSIF_SAMPLE sampleBuf DWORD numSamples DWORD numRead BOOL wait sampleBuf numSamples numRead wait Returns HSIF_SUCCESS HSIF FAIL 1 Storage buffer for the retrieved samples The number of samples to read from the card The actual number of samples read When TRUE the function will block until numSamples have been read from the card When FALSE the function will return immediately with 0 tonumSamples inthe sampleBuf as indicated by numRead Read up to numSamples successfully Read failure Possible bad HANDLE or card not esponding Sample Contents HSIF_SAMPLE contains the following data in the specified format typedef s DWOR DWORI DWORI DWOR truct D status D encoderl1 D encoder2 D range HSIF_SAMPLE User s Manual AR4000 PCI HSIF 23 index latches temp ambient amplitude and other status info motor 1 position motor 2 position uncalibrated range measurement Acuity Laser Measurement 1 7 7 Set sample period and maximum range Set the sample period and maximum range for the card Once this data is set it is used internally by HsifProcessSamples HSIF_RESULT HsifSetSamplePeriod HSIF_HANDLE hsifCard HANDLE comHandle DWORD range DWORD samplePeriod hsifCard The HSIF card s number from the above function comHandle Handle to a comport range Max measurement
29. evel signal and may switch at up to 1 5 Mhz The encoder positions are converted to 8 bit position values that ate included in the data stream Each transition of pins 19 or 20 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 20 Motor 2 Encoder Channel B If the motor control option is installed on the board this input is decoded with pin 19 as a quadrature encoder signal from motor 2 The input should be a TTL level signal and may switch at up to 1 5 Mhz Pin 21 Motor 1 Encoder Channel A If the motor control option is installed on the board this input is decoded with pin 22 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 Mhz The encoder positions are converted to 8 bit position values that are included in the data stream Each transition of pins 21 or 22 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 22 Motor 1 Encoder Channel B If the motor control option is installed on the board this input is decoded with pin 21 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 Mhz Pin 23 Ground User s Manual AR4000 PCI HSIF 15 Acuity Laser Measurement May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18
30. he next dialog box appears Found New Hardware Wizard Install Hardware Device Drivers So device driver is a software program that enables a hardware device to work with Sy an operating system This wizard will complete the installation for this device op PCI Device 4 device driver is a software program that makes a hardware device work Windows needs driver files for your new device To locate driver files and complete the installation click Next What do you want the wizard to do Search for a suitable driver for my device recommended Display a list of the known drivers for this device so that can choose a specific driver lt Back Cancel Acuit Laser Measurement User s Manual AR4000 PCI HSIF 3 y Choose Search for a suitable driver for my device and hit NEXT The following box appears Found New Hardware Wizard Locate Driver Files Pea Rant Where do you want Windows to search for driver files SY Search for driver files for the following hardware device oy PCI Device The wizard searches for suitable drivers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Next If you are searching on a floppy disk or CD ROM drive insert the floppy disk or CD before clicking Next Optional search locations J Floppy disk drives MV CD ROM drives I Specify a location Tl Microsoft Windows Update
31. int timeout pCommInfo pointer to a COMMINFO struct where relevant com port information is stored buf storage space for characters read from the AR 4000 sensor nMaxLength maximum number of characters that can be put in the buf storage space erir TRUE read a carriage return line feed pair as the end of line indicator FALSE read a line feed as the end of line indicator This should be set to TRUE for AR 4000 sensor timeout Number of milliseconds to wait before returning from the call if no data is detected Returns number of bytes read If read was successful ASCIL TIMEOUT If read times out User s Manual AR4000 PCI HSIF 34 Acuit y Laser Measurement 1 8 6 Read binary data bytes from the AR 4000 sensor Read a specified number of bytes from the AR 4000 sensor when in binary mode unsigned int ascii_read_line COMMINFO pCommInfo char buf unsigned int nMaxLength int timeout pCommInfo_ pointer to a COMMINFO struct where relevant com port information is stored buf storage space for characters read from the AR 4000 sensor nMaxLength maximum number of characters that can be put in the buf storage space timeout Number of milliseconds to wait before returning from the call if no data is detected Returns number of bytes read If read was successful BINARY TIMEOUT If read times out 1 9 Sampled Data Format The interface board collects 16 bytes sam
32. ive input of motor 1 encoder channel B differential pair See pin 22 for functional description Pin 11 General Purpose Input 2 Encoder 2 Index Pulse Negative input of motor 2 index pulse differential pair or general purpose input 2 See pin 13 for functional description Pin 12 Start Stop Sample Control Input When high this input enables sampling and samples will be taken until the on board buffer is full When pulled low sampling will stop Samples are always completed so that a full 8 byte sample is always buffered This line is pulled up with an on board 10Kohm resistor so sampling User s Manual AR4000 PCI HSIF 18 Acuity Laser Measurement is enabled when the input is left open The first sample following resumption of sampling after stopping the sampling will not contain valid data and must be read and discarded Pin 13 General purpose input bit 2 Motor 2 index pulse input Positive input of motor 2 index pulse differential pair or general purpose input 2 This may be used to sample external signals The value of the bit will is included in the sampled data stream This may be used to sample motor encoder index pulses or other events in order to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level the following sample This is intended for use with encoder index pulses Pin 14 Motor 1 Control
33. lable The number of samples available is returned through this pointer Returns HSIF SUCCESS Accessed number of samples available successfully HSIF_FAIL Could not access number of samples available User s Manual AR4000 PCI HSIF 28 Acuit y Laser Measurement 1 7 17 Get overflow status Return the software and hardware overflow status If the overflow status is TRUE the application isn t reading samples out of the buffer fast enough HSIF_ RESULT HsifGetOverflowStatus HSIF HANDLE hsifCard BOOL overflowStatus overflowStatus Logical and of the hardware and software overflow status Returns HSIF_ SUCCESS Returned the overflow status successfully HSIF_FAIL Failed to return the overflow status 1 7 18 Set motor power Set power for motors 1 and 2 The powers may be set from 0 to 255 corresponding to zero power to full power HSIF_RESULT HsifSetMotorPower HSIF HANDLE hsifCard DWORD motorNum DWORD power motorNum 1 or 2 are valid motor numbers power 0 off to 255 full power Returns HSIF SUCCESS Set the motor power successfully HSIF_FAIL Failed to set the motor power User s Manual AR4000 PCI HSIF 29 Acuit y Laser Measurement 1 7 19 Clear motor position encoder accumulator Clear either one or both encoders immediately or the next time the index pulse comes around HSIF_ RESULT HsifClearEncoder HSIF HANDLE hsifCard DWORD encoderMask BOOL withIndex encoderMask Set to the following
34. led Data Format 1 9 1 Description of Sampled Data Format Amplitude 8 bit sample of the AR4000 logarithmic signal strength output The sample represents the amplitude of the modulated signal sensed by the detector The amplitude sample is taken in the first 10 microseconds of the data sample interval Ambient Light 8 bit sample of the AR4000 ambient light output The sample represents the ambient or background light sensed by the detector It will also register the light transmitted by the sensor so changing range signal strengths will affect this reading somewhat The ambient light sample is taken in the first 10 microseconds of the data sample interval Internal temperature 8 bit sample of the AR4000 internal temperature The temperature is sampled in the first 10 microseconds of the data sample interval Range 32 bit value which must be processed through HsifProcessSamples to get a rawRange value that will be proportional to the distance to the object being ranged within the uncalibrated linearity of the AR4000 Buffer overflow indicator 1 bit indicating whether a memory buffer overflow occurred and 1 or more samples were lost just prior to the first sample in which the flag is set Once an overflow occurs this bit will stay set until a HsifClearOverflow or Reset Interface Board command is given or a power cycle occurs Samples with the overflow flag set may contain inaccurate range data and should be discarde
35. mples data from the High Speed Interface and prints distance in inches as well as averaged data obtained from the interface and angular data measured from the scanning encoder User s Manual AR4000 PCI HSIF 10 Acuity Laser Measurement It takes 5 command line arguments The serial COM port number the installed card number the sample period in microseconds the name of the file containing the calibration data the number of samples to calibrate and average between printouts to the screen and the total number of range captures to print before exiting The following command line demonstrates the program hs_enc for an AccuRange connected to comport 1 and interface card 1 a sample rate of 10 000 samples sec 100ps sample the calibration file Lookuphs 10 000 averages per output line prints 500 lines of range capture data before exiting sets the motor power to half voltage 128 sets the number of pulses per encoder revolution at 8192 and sets the maximum range to 650 inches hs_enc 1 1 100 lookuphs 10000 500 128 8192 650 1 4 Sensor Configuration and Sample Rate When using the High Speed Interface all configurations of the 4000 are done via the serial port or push button interface just as it would be when using the sensor without the High Speed Interface The communication path from the AR4000 to the High Speed Interface is a one way data path only the sensor cannot be configured through the Interface Since the sample rate of the Int
36. n General Purpose Input 3 In General Purpose Input 2 Encoder 2 Index Pulse In P2 I O Connector Pin 1 Motor 2 Control If used motor 2 should be connected between this pin and pin 2 The output voltage level is varied as commanded to control the variable voltage motor User s Manual AR4000 PCI HSIF 13 Acuit y Laser Measurement Pin 2 Motor 2 Return If used motor 2 should be connected between this pin and pin 1 Pin 3 Motor Power The external power supply for the motors should be applied to this line at 12 to 15 Volts depending on the motor used The line may draw up to 2 amps Pin 4 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 5 5V power output Primarily intended as power for the motor 1 encoder but it may be used to drive other hardware up to 100 mA maximum Pins 6 10 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 11 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 12 Start Stop Sample Control Input When high this input enables sampling and samples will be taken until the on board buffer is full When pulled low sampling will stop Samples are always completed so that a full 8 byte sample is always buffered This line is pulled up with an on board 10Kohm resistor so sampling is enabled when the input is left open The first sample following resum
37. nt Procedures for Obtaining Warranty Service 1 Contact your Acuity distributor or call Acuity to obtain a return merchandise authorization RMA number within the applicable warranty period Acuity will not accept any returned product without an RMA number 2 Ship the product to Acuity postage prepaid together with your bill of sale or other proof of purchase your name address description of the problem s Print the RMA number you have obtained on the outside of the package This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this device in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at their own expense COPYRIGHT 2003 ACUITY A DIVISION O
38. ory buffer indicators for the number of samples available external sample start stop control and three general purpose input bits that allow synchronous recording of events while sampling The board comes standard with power control circuitry for two small motors This is not full servo control but it allows motor power to be programmed If the motors have encoders the encoders may be sampled with the sensor data to provide position information in the sample stream in scanning systems Each motor can be driven with up to 2 amps at 12 to 15 volts Power for the DC level controlled motors must be supplied to the board The AR4000 PCI High Speed Interface can be ordered with either single ended or differential encoders If you are using your own motor and encoder with a line scanner application you must specify which encoder type you will be using with your PCI HSIF Acuity Laser Measurement User s Manual AR4000 PCI HSIF 2 1 2 HSIF Card Installation The PCI HSIF card is compatible with Windows 98 2000 and XP While the PC is turned off install the card into an available PCI bus slot 1 2 1 Windows 2000 driver installation When you turn on the PC the following dialog box appears Found New Hardware Wizard Welcome to the Found New a 3 Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Nest lt Back Next gt Cancel Click Next Then t
39. ose com port Close com port BOOL ClosePort COMMINFO pCommInfo pCommInfo_ pointer to a COMMINFO struct where relevant com port information is stored Returns TRUE Com port close was successful FALSE Com port close failed 1 8 3 Purge port Clear out pending transmit and receive data BOOL PurgePort COMMINFO pCommInfo int flags pCommInfo pointer toa COMMINFO struct where relevant com port information is stored flags Possible settings PURGE TX clear transmit buffer PURGE_RX clear receive buffer These values can be bitwise OR d for simultaneous operation i e PURGE TX PURGE RX Returns TRUE Purge was successful FALSE Purge failed User s Manual AR4000 PCI HSIF 33 Acuit y Laser Measurement 1 8 4 Send serial data to the AR 4000 sensor Send a string of characters to the AR 4000 sensor BOOL sendstr COMMINFO pCommInfo char str pCommInfo_ pointer toa COMMINFO struct where relevant com port information is stored str null terminated string of characters to transmit to the AR 4000 sensor Returns TRUE String was transmitted successfully FALSE String transmit failed 1 8 5 Read a line of characters from the AR 4000 sensor Read a line of characters from the AR 4000 sensor when in ASCII output mode unsigned int ascii_read_line COMMINFO pCommInfo char buf unsigned int nMaxLength BOOL crlf
40. ple in a sequential stream which are read as samples with function HsifGetBufferedSamples If memory buffer overflow occurs the board will always drop complete samples so that synchronization is not lost If a software board reset command is issued the next byte read will be the first byte of a complete sample and unread and partially read samples will be lost In general the values for amplitude and ambient light level will correspond closely to the values from the 4000 s serial interface with the ASCII format serial data being 4 times the High Speed Interface values for amplitude and ambient light However the values will not match exactly and the calibration software supplied for use with the High Speed Interface must be used with the values obtained from the HSIF not serial data The temperature and range have different scale factors from the serial data and must be scaled using algorithms found in the software supplied with the interface Below is a table that details the sample data format User s Manual AR4000 PCI HSIF 35 Acuity Laser Measurement DWord Bit Contents 0 0 Hardware Buffer Overflow Indicator 1 Input 3 2 Motor 1 Encoder Index Input 1 3 Motor 2 Encoder Index Input 2 7 4 Sample Count 0 15 15 8 8 bit Sensor Internal Temperature 23 16 8 bit Ambient Light Sample 31 24 8 bit Amplitude Sample 31 0 32 bit Motor 1 Encoder Position 31 0 32 bit Motor 2 Encoder Position 3 31 0 32 bit Range Samp
41. pplication or damage caused by acts of God 3 You must retain your bill of sale or provide other proof of purchase 4 Any replacement parts furnished at no cost to the purchaser in fulfillment of this warranty are warranted only for the unexpired portion of the original warranty ALL WARRANTIES REQUIRED TO BE IMPLIED BY STATE LAW ARE EXPRESSLY LIMITED TO THE DURATION OF THE LIMITED WARRANTIES SET FORTH ABOVE Some states do not allow limitations on how long an implied warranty lasts so the above limitation may not apply to you WITH THE EXCEPTION OF ANY WARRANTIES REQUIRED TO BE IMPLIED BY STATE LAW AS HEREBY LIMITED THE FOREGOING EXPRESS WARRANTY IS EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES IN NO EVENT SHALL ACUITY BE LIABLE FOR SPECIAL INCIDENTAL CONSEQUENTIAL OR PUNITIVE DAMAGES INCLUDING WITHOUT LIMITATION INJURY OR DAMAGE TO PERSONS OR OTHER PROPERTY INCONVENIENCE LOSS OF GOODWILL LOST PROFITS OR REVENUE LOSS OF USE OF THIS PRODUCT OR ANY ASSOCIATED EQUIPMENT COST OF SUBSTITUTIVE EQUIPMENT DOWNTIME COSTS OR CLAIMS OF ANY PARTY DEALING WITH PURCHASER FOR SUCH DAMAGES RESULTING FROM THE USE OF THIS PRODUCT OR FROM DEFECTS IN THIS PRODUCT OR ARISING FROM BREACH OF WARRANTY OR CONTRACT NEGLIGENCE OR ANY OTHER LEGAL THEORY Some states do not allow the exclusion or limitation of incidental or consequential damages so the above limitation may not apply to you User s Manual AR4000 PCI HSIF ii Acuit y Laser Measureme
42. ption of sampling after stopping the sampling will not contain valid data and must be read and discarded Pin 13 General purpose input bit 2 Motor 2 index pulse input This may be used to sample external signals The value of the bit is included in the sampled data stream This pin is intended to sample motor encoder index pulses or other events to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level following sample This is intended for use with encoder index pulses Pin 14 Motor 1 Control If used motor 1 should be connected between this pin and pin 14 The output voltage level is varied as commanded to control the variable voltage motor User s Manual AR4000 PCI HSIF 14 Acuity Laser Measurement Pin 15 Motor Power Ground The external power supply ground for the motors should be connected to this pin Pin 16 Motor 1 Ground If used motor 2 should be connected between this pin and pin 16 Pin 17 Laser Control A 0 5V signal used to turn the laser on or off Pin 18 5V power Primarily intended as power for the motor 2 encoder but it may be used to drive other hardware up to 100 milliamps maximum Pin 19 Motor 2 Encoder Channel A If the motor control option is installed on the board this input is decoded with pin 20 as a quadrature encoder signal from motor 2 The input should be a TTL l
43. tallation and Checkout To install the AR4000 PCI High Speed Interface board first install the computer drivers from the supplied CD according to the directions in section 1 2 When complete physically install the PCI board into an available PCI slot in your computer Attach the AR4000 Power and Signal cable to the 9 pin connector P1 Turn on the computer power Check out the operation of the AR4000 as described in the Initial Checkout section 1 10 1 Diagnostics Install the PCI High Speed Interface in a bus slot connect the sensor to the HSIF board and to a serial port on the computer Be sure that power is being supplied to the AR4000 sensor If the sensor s LED does not come on check the connection of the sensor to the interface The serial connection to the sensor may be tested separately using a program such as the Windows terminal to observe sensor output and send commands If the sensor does not respond to serial communications check the serial port connection After installing the board and connecting the AR4000 sensor run the demo diagnostic software supplied with the board following the instructions at the beginning of this manual If the motor control option is not installed the encoder tests will not succeed If you have not connected the input lines and external sample control line to 0 5 volt signals the tests of those lines will not succeed All other tests should succeed User s Manual AR4000 PCI HSIF 37 Acuity
44. tream giving the position of each motor If the encoders provide index pulses these can be applied to two of the general purpose input lines and used to determine the absolute positions of the motors See the description of the 25 pin I O connector for encoder connection details User s Manual AR4000 PCI HSIF 11 Acuit y Laser Measurement If motors are to be driven by the power amplifier on the board the motors and motor power must be connected to P2 Motor 1 should be connected between pins 14 and 16 and motor 2 between pins 1 and 2 A separate power supply is required to drive the motors Connect the motor power supply to pin 3 and the power supply ground to pin 15 1 6 I O Connectors There are two connectors on the High Speed Interface The 9 pin connector P1 supplies power and receives signals from the AR4000 sensor The 25 pin connector P2 is used for powering the motors and reading the motor encoders general purpose inputs and sample control input 1 6 1 9 Pin Power and Signal Connector P1 a7 5 4000 Wire Function Direction Red Power 5V 5 6V Out Black Ground Orange Heater Power 5V 4 5 7V Out Brown Heater Power Return Yellow Temperature 0 5 V In Blue Pulse Width Range Signal In Green Ambient light signal 0 5 V In Purple Amplitude signal 0 5 V In Not Used Laser Control 0 5V 1 2 3 4 5 6 7 8 9 P1 Power and Sisnal Connector Wiring 1 6 2 Power and Signal Connector Description The lin
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