User Manual PCL-833
Contents
1. Bit 3 of write register BASE 9 selects DI1 or timer Note that you can use only one of the card s interrupt sources at a given time unless you specially program your interrupt service routine to handle multiple interrupt sources You enable the PCL 833 interrupt functions by programming the card s 8259 chip accessed through the registers at BASE 12 and BASE 13 You will need to set the chip s interrupt mask register to exclude all but one of the interrupt lines Program the 8259 in 8086 8088 mode single mode edge triggered mode In 8086 8088 mode two INTA signals are needed The PCL 833 generates the first INTA automatically Your program generates the second INTA by reading BASE 15 This read returns the interrupt vector number which caused the request The hold time must be at least 1 micro sec after a low to high transition of the inter rupt source to ensure that the interrupt occurs PCL 833 User Manual 18 19 PCL 833 User Manual AD ANTECH eAutomation www advantech com Please verify specifications before guoting This guide is intended for reference purposes only All product specifications are subject to change without notice No part of this publication may be reproduced in any form or by any means electronic photocopying recording or otherwise without prior written permis sion of the publisher All brand and product names are trademarks or registered trademarks of their respective companies Advantech C2. the terms of this warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous testing most of our customers never need to use our repair service If an Advantech product is defec tive it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Please have your manual product and any helpful information readily available 3 If your product is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for warranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer Edition 2 P
3. to secure the PCL 833 6 Carefully grasp the upper edge of the PCL 833 card Align the hole in the retain ing bracket with the hole on top of the expansion slot and align the gold striped edge connector with the expansion slot socket Press the board firmly into the socket 7 Replace the screw in the expansion slot retaining bracket 8 Attach necessary accessories to the card 9 Replace the chassis cover Connect the cables you removed in step2 Turn on the computer Hardware installation is now complete You can now install the software driver as described in the next section 2 2 Software Installation 2 3 We recommend you install the software driver before installing the PCL 833 card since this will guarantee a smooth installation process The DLL driver Setup program for the PCL 833 module is included on the companion CD ROM that is shipped with your module package For further information on driver related issues an online version of the Device Driv ers Manual is available by accessing the following path Start Programs Advantech Automation Device Manager Device Driver Manual Switch amp Jumper Settings DIP switch SW1 sets the card s I O address and jumper JPI sets the card s interrupt level 2 3 1 Base I O Address SW1 PCL 833 requires 16 consecutive addresses DIP switch SW1 shown below sets the base I O address Choose a base address that is not in use by any other I O device A confl
4. Modesti 15 Digital Noise FI aprira ad 16 batch Mode eh ata jngan nakal a a 16 Counter Reset ValU S oi ima edintan mkin 17 351 _Resetafter nase 17 Cascade i uks kada 17 Timer Functions ur adi 18 Interrupt FUNCVONS ski Dans ta man Ra na aan 18 vii PCL 833 User Manual PCL 833 User Manual viii Overview Introduction m Features Specifications Block Diagram 1 1 Introduction The PCL 833 is a 3 axis quadrature encoder and counter add on card for the KM PC AT and compatibles ISA bus This card lets your PC perform position monitoring for motion control systems It provides three 24 bit up down counters as quadrature encoders and a 16 2 oscillator time base with wide range multiplier An on board interrupt controller handles nine different interrupt sources Encoder interface Each input includes a decoding circuit for incremental quadrature encoding Inputs accept either single ended or differential signals Quadrature input works with or without an index allowing linear or rotary encoder feedback Counters The PCL 833 has three independent 24 bit counters The maximum quadrature input rate is 1 0 MHz while the maximum input rate in counter mode is 2 4 MHz You can individually configure each counter for quadrature decoding pulse direction counting or up down counting Digital input and interrupts The PCL 833 provides five digita
5. Sample clock freq 8 4 or 2MHz s w selectable Input isolation 2 500Vpyus using optical isolators 1 3 2 Digital input No of channels five differential with interrupt Input isolation 2 500V ams using optical isolators 1 3 3 Programmable interrupt controller 10 Hz 1 KHz or 10 KHz time base s w selectable with a programmable multiplier from 1 to 255 1 3 4 General Connector DB 25 Board dimensions 185 100mm 3 PCL 833 User Manual 1 4 Block Diagram 1 PHASE A ui PHASE B 1 INDEX 23 CH 2 PHASE 24 BIT MUTI MODE W 2 e tei B UP DOWN COUNTER 5 E 3 CH 3 PHASE A 24 BIT MUTI MODE 2 CH 3 PHASE UP DOWN COUNTER CH 3 INDEX DA 0 DI I CONTROL AND DATA BUS CONTROL UNIT PROGRAMMABLE TIME BASE GENERATOR ADDRESS DECODER PCL 833 User Manual 4 1 5 Initial Inspection After receiving your PCL 833 package please inspect its contents first The package should contain the following items m 833 encoder Companion CD ROM DLL driver included Startup user Manual The PCL 833 card harbors certain electronic components vulnerable to electrostatic discharge ESD ESD could easily damage the integrated circuits and certain com ponents if preventive measures are not carefully paid attention to Before removing the module from the antistatic plastic bag you should take following precau
6. User Manual PCL 833 3 axis Quadrature Encoder amp Counter Card AD ANTECH eAutomation Copyright The documentation and the software included with this product are copyrighted 2007 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmitted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable How ever Advantech Co Ltd assumes no responsibility for its use nor for any infringe ments of the rights of third parties which may result from its use Acknowledgements Intel and Pentium are trademarks of Intel Corporation Microsoft Windows and MS DOS are registered trademarks of Microsoft Corp All other product names or trademarks are properties of their respective owners Product Warranty 2 years Advantech warrants to you the original purchaser that each of its products will be free from defects in materials and workmanship for two years from the date of pur chase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper installation Advantech assumes no liability under
7. When RF 0 the counter will reset to 000000h When RF 1 the counter will reset to 800000h Reset after latch Bit 3 LC of registers BASE 3 4 and 5 determine whether the corresponding counter will reset to its initial value see preceding section when it is latched If LC I the counter will reset to its initial value when it is latched If LC 0 the counter will stay the same keep its previous value when it is latched 3 6 Cascade Mode 24 bits is enough for most counter applications If you need to store larger values you can cascade the output of one counter into the input of a second giving 48 bits of storage When the first counter over flows the card increments the second counter The PCL 833 lets you cascade channel into channel 2 to form a single 48 bit counter Channel 3 will not cascade The mode settings of channel control this 48 bit counter except that the setting of channel 2 controls the initial reset value You set up the 48 bit counter as follows 1 Set bits CAS1 and CASO of write register BASE 8 to Olh 2 Set CH2 to cascade mode Set Bits 0 2 of register BASE 1 to 111 3 Set the initial reset value in CH2 4 Set remaining modes in CH1 To read the total value you must read both counters Channel 1 holds the high 24 bits and channel 2 the low 24 bits 17 PCL 833 User Manual 3 7 Timer Functions The PCL 833 s on board timer lets you monitor counter readings with extreme accu racy T
8. and BASE 2 for CH3 15 PCL 833 User Manual 3 3 Digital Noise Filter Noise immunity is the most important requirement for reliable encoder interface oper ation The PCL 833 conditions the input signals with a four stage digital filter This fil ter reduces glitches digital noise or spikes by sampling the input at 2 4 or 8 MHz The filter output waveforms change only when an input has the same value for three consecutive sampling edges The filter thus rejects noise or pulses shorter than two sampling clock periods You can optimize noise immunity by selecting the lowest sampling frequency that compatible with the highest input rate you expect PCL 833 accepts up to MHz quadrature freq at 8 MHz filter sampling speed At 2 MHz sampling speed it can still accept up to 300KHz quadrature input freq A 3600 rpm motor with 2000 ppr encoder will have a max quadrature freq of 3600 x 200 0 60 120 KHz In the above example the 2MHz sampling clock will have the best noise immunity and will meet the required input freq The following table shows the maximum noise pulse width that the filter will reject for each system clock frequency Clock freq Maximum width 8 2 375nsec 4MHz 750nsec 2MHz 1 5msec 3 4 Latch Mode When you read a counter you are actually reading a value latched into a buffer The PCL 833 provides five different latching modes only one of which is active at any given time Make sure that you know wh
9. ative input CDI1 Digital input NO 1 differential positive input PCL 833 User Manual 10 2 4 1 Connector Wiring Differential single ended input With differential inputs connect the negative wire to the negative pin and the positive wire to the positive pin For example with channel 3A connect the negative input wire to CH3A and the positive wire to CH3A With single ended inputs connect the input to the positive pin and leave the negative pin open AB phase encoder In 2 pulse input mode A inputs CHIA CH2A etc count up while their corresponding B inputs CHIB CH2B count down In I pulse input mode A inputs CHIA etc count up or down and B inputs CHIB etc determine the direction to count A logical high 1 on the B channel indicates that the pulse on the A channel is an up count and a logical low 0 indicates that the pulse is a down count 11 PCL 833 User Manual PCL 833 User Manual 12 Advanced Modes Quadrature Encoder Introduction Counter Modes Digital Noise Filter Latch Mode Counter Reset Values Cascade Mode Timer Functions Interupt Functions 3 1 Quadrature Encoder Introduction In typical closed loop control systems also know as servo systems the encoder interface senses motor position and sends a position signal to the controller The dia gram below shows a typical servo system The encoder generates pulses which indicate the shaft position The encoder output includes two sig
10. cturer Discard used batteries according to the manufacturer s instructions Document Feedback To assist us in making improvements to this manual we would welcome comments and constructive criticism Please send all such in writing to support advan tech com Safety Instructions 1 2 3 10 11 12 13 14 15 16 17 Read these safety instructions carefully Keep this User Manual for later reference Disconnect this equipment from any AC outlet before cleaning Use a damp cloth Do not use liquid or spray detergents for cleaning For plug in equipment the power outlet socket must be located near the equip ment and must be easily accessible Keep this equipment away from humidity Put this equipment on a reliable surface during installation Dropping it or letting it fall may cause damage The openings on the enclosure are for air convection Protect the equipment from overheating DO NOT COVER THE OPENINGS Make sure the voltage of the power source is correct before connecting the equipment to the power outlet Position the power cord so that people cannot step on it Do not place anything over the power cord AII cautions and warnings on the equipment should be noted If the equipment is not used for a long time disconnect it from the power source to avoid damage by transient overvoltage Never pour any liquid into an opening This may cause fire or electrical shock Never open the equipment Fo
11. disconnect the power from your PC chassis before you work on it Don t touch any components on the CPU card or other cards while the PC is on Disconnect power before making any configuration changes The sudden rush of power as you connect a jumper or install a card may damage sensitive elec tronic components PCL 833 User Manual PCL 833 User Manual vi Contents Chapter Chapter Chapter 1 nd mk Ww 2 2 1 2 3 2 4 1 Introduction an 2 Features ne aa 2 Specifications nana 3 1 3 1 Encoder p ti orientasi 3 132 DigitaliNpUt S 3 1 3 3 Programmable interrupt controller ne 3 1 34 General alii 3 Block Diagram wet nba alunan aan ana 4 Initial InSpeCtiOn ke an 5 Installation Jumpers 7 Hardware Installations au aaa 8 Software Installation A 8 Switch amp Jumper 05 440 111 8 2 3 1 Base I O Address SW1 ii 8 23 2 Interrupt level IPA akan 9 Connector Pin Assignments Woo near nanna 10 24 1 Connector WIANg i e 11 Advanced Modes 13 Quadrature Encoder Introduction 14 3 1 1 Single ended vs differential INput 14 Counter
12. he programmable timer generates pulses at regular intervals The card can latch the readings in its counters and generate an interrupt to the PC You can set timer cycle periods from 1msec to 255 seconds The cycle time is the product of the timer base period and a multiplier Timer base periods are 1 10 100 or 1000 msec The multiplier ranges from 1 to 255 The divider can range from 1 to 255 For example to set a timer period of 20 msec you would set the timer base to1 msec and the multiplier to 20 That is Time period Base period multiplier 20msec 1msed 20 Set the timer period by programming registers BASE 9 and BASE 10 You can use the timer to latch the counter values and or to generate an interrupt to the PC To use the timer latching set registers BASE 3 4and 5 To generate an interrupt with the timer set bit 3 of BASE 9 and program the card s 8259A interrupt controller See the following sections for more information 3 8 Interrupt Functions The PCL 833 can generate an interrupt to the PC for any of the following conditions Counter overflow Counter 2 overflow Counter 3 overflow Counter index in Counter 2 index in Counter 3 index in DIO input DI1 input Timer pulse DONG OB WON gt The card s 8259A interrupt controller chip combines these interrupts into a single PC interrupt set by jumper JPI Since the 8259A only has eight input channels the DI1 and timer interrupts share a single interrupt line
13. ich latching mode is current whenever you read the counter Otherwise you may read an old value or one that was latched at a different time than you expect You select the latching mode for each channel individually That is you might select S W latching on channel and DIO latching for channels 2 and 3 Bits 0 2 of register BASE 3 control CHI BASE 4control CH2 and BASE 5 control CH3 The PCL 833 s latching modes are as follows S W latch Whenever you read a channel s data registers the counter values will be latched in buffer The S W latch will only take effect when you read the high byte of the counter C23 C16 Reading middle byte or low byte of a counter won t latch the counter val ues to the buffer You should therefore read the high byte first then the other two bytes of the counter Index latch A rising edge on the channel s index input line will latch the channel s counter value PCL 833 User Manual 16 DIO latch A rising edge on the board s DIO line will latch the counter value for the channel DI1 latch A rising edge on the DI1 line will latch the counter value for the channel Timer latch The card latches the counter value on a rising edge of pulses from the card s on board timer 3 5 Counter Reset Values 3 5 1 Bit 3 RF of registers BASE O and 2 control the initial reset value of for each counter You can select either 000000 800000 hex When the counter is reset it will take this value
14. ict with another device may cause one or both devices to fail The factory address setting hex 200 is usually free as it is reserved for PC prototype boards Jumper settings for various base addresses appear below PCL 833 User Manual 8 Table Card I O Address SW1 Range hex Switch Position 1 2 3 4 5 6 200 20F X O O O O O 210 21F X O O O O X 220 22F X O O O X O 230 23F X O O O X X 240 24F X O O X O O 3FO X X X X X X X Off O On Default 2 3 2 Interrupt level JP1 The jumper JP1 selects the card s interrupt level 2 4 5 7 10 11 12 15 as shown below IRO 15121110 7 5 4 2 Card interrupt default 7 Do not select a level that is being used by another device unless you have performed special programming to share several devices on one interrupt To use the interrupt you must install an interrupt service routine and program the PCL 833 s on board the 8259 interrupt controller Nine different conditions can enable the PCL 833 s interrupt but only one at a time Interrupt Condition Source 0 CH1 overflow CH2 overflow CH3 overflow CH1 ZIN CH2 ZIN CH3 ZIN DIO Shared by TIMER and DI1 N OD oO oO hm Bit 3 of register BASE 9 switches interrupt source 7 between the card s TIMER and DI1 See Chapter 3 for details You should treat all the interrupt sources as positive edge triggered when you
15. l input channels The channels accept digital input as an index input for a rotary encoder or as a home sensor input for a linear encoder The card can generate an interrupt to the system based on a signal from its digital inputs overflow underflow of its counters or on programmed time interval It can repeatedly generate interrupts at anytime interval you specify 0 1 mini sec to 255 sec These interrupts let you precisely monitor the speed of a control system 1 2 Features Three 24 bit up down counters cascade for up to 48 bits 1 0 MHz max quadrature input rate 2 4 MHz max input pulse rate Single ended or differential inputs Pulse direction and up down counter XI X2 X4 counts for each encoder cycle Optically isolated up to 2500 V 4 stage digital filter with selectable sampling rate 16 MHz oscillator time base with wide range multiplier Onboard interrupt controller with nine different interrupt sources Digital input with interrupt for each axis Programmable time interval interrupt Half size AT bus card PCL 833 User Manual 2 1 3 Specifications 1 3 1 Encoder input No of Axes Three independent axes Max quadrature input freg 1 0MHz Max input pulse freg 2 4MHz Counts per encoder cycle 1 2 or 4 s w selectable Encoder type Single ended or differential Counter size 24 bits easily daisy chain for up to 48 bits Counter modes Quadrature up down count direction s w selectable Digital filter 4 stage
16. nals commonly called channel and channel which generate N pulses per revolution The two signals are shifted by a quarter of a cycle as shown below The shift between the two signals enables the controller to determine the direction of rotation depending on whether channel A leads channel B or vice versa MICROCOMPUTER QUADRATURE BUS SIGNAL PHASE A ni L 41 IL PHASE B QUADRATURE ENCODER MOTER PCL 833 ENCODER QUADRATURE SIGNAL encoder tif 3 1 1 Single ended vs differential input Most encoders produce square wave signals with TTL levels Industrial svstems often use encoders with differential signals i e channel A and B and their comple ments Differential signals can reduce sensitivitv to noise and allow longer transmis sion distances Encoders mav also produce a third signal once per revolution known as the index or marker The encoder interface can use the index signal to reset the counter allowing vou to monitor the position within the current revolution PCL 833 User Manual 14 3 2 Counter Modes The following table shows the maximum input rate for each input mode and system clock rate Values are given for each system clock frequency Mode Maximum input rate 8MHz 4MHz 2MHz Quadrature XT X2 X4 2 600KHz 300KHz 2 pulse 2 4 2 T 2MHz 600KHZ Pulse direction 2 4 2 1 2MHz 600KHZ Counter modes are as follows Quadra
17. o Ltd 2007
18. pro gram the 8259 9 PCL 833 User Manual 2 4 Connector Pin Assignments You make all connections to the PCL 833 through a single DB 25 connector shown below EGND CHIA CHIA CH1B CH1B CHIZ CHIZ CH2A CH2A CH2B CH2B CH22 CH2Z CH3A CH3A CH3B CH3B CH3Z CH3Z CDIO CDIO CDIt CDIt NC EGND_ Pin Function EGND External ground Channel 1 differential negative input CH1A Channel 1 A differential positive input CH1B Channel 1 B differential negative input CH1B Channel 1 B differential positive input CH1Z Channel 1 Z differential negative input CH1Z Channel 1 Z differential positive input CH2A Channel 2 A differential negative input CH2A Channel 2 A differential positive input CH2B Channel 2 B differential negative input CH2B Channel 2 B differential positive input CH2Z Channel 2 Z differential negative input CH2Z Channel 2 Z differential positive input Channel 3 differential negative input CH3A Channel 3 A differential positive input CH3B Channel 3 B differential negative input CH3B Channel 3 B differential positive input CHSZ Channel 3 Z differential negative input CH3Z Channel 3 Z differential positive input CDIO Digital input NO 0 differential negative input CDIO Digital input NO 0 differential positive input CDI1 Digital input NO 1 differential neg
19. r safety reasons the equipment should be opened only by qualified service personnel If one of the following situations arises get the equipment checked by service personnel The power cord or plug is damaged Liquid has penetrated into the equipment The equipment has been exposed to moisture PCL 833 User Manual 18 19 20 21 22 23 The equipment does not work well or you cannot get it to work according to the user s manual The equipment has been dropped and damaged The equipment has obvious signs of breakage DO NOT LEAVE THIS EQUIPMENT IN AN ENVIRONMENT WHERE THE STORAGE TEMPERATURE MAY GO BELOW 20 C 4 F OR ABOVE 60 C 140 F THIS COULD DAMAGE THE EQUIPMENT THE EQUIPMENT SHOULD BE IN A CONTROLLED ENVIRONMENT CAUTION DANGER OF EXPLOSION IF BATTERY IS INCORRECTLY REPLACED REPLACE ONLY WITH THE SAME OR EQUIVALENT TYPE RECOMMENDED BY THE MANUFACTURER DISCARD USED BATTERIES ACCORDING TO THE MANUFACTURER S INSTRUCTIONS The sound pressure level at the operator s position according to IEC 704 1 1982 is no more than 70 dB A Safety Precaution Static Electricity DISCLAIMER This set of instructions is given according to IEC 704 1 Advantech disclaims all responsibility for the accuracy of statements contained herein Safety Precaution Static Electricity Follow these simple precautions to protect yourself from harm and the products from damage To avoid electrical shock always
20. rinted in Taiwan February 2008 PCL 833 User Manual ii Declaration of Conformity CE This product has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Please contact your local supplier for ordering information CE This product has passed the CE test for environmental specifications Test conditions for passing included the equipment being operated within an industrial enclosure In order to protect the product from being damaged by ESD Electrostatic Discharge and EMI leakage we strongly recommend the use of CE compliant industrial enclo sure products FCC Class B Note This equipment has been tested and found to comply with the limits for a Class digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installa tion This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful inter ference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interfer ence to radio or television reception which can be determined by turning the equip ment off and on the user is encouraged to try to co
21. rrect the interference by one or more of the following measures or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet a circuit different from that to which the receiver is connected mM Consult the dealer an experienced radio TV technician for help Technical Support and Assistance 1 Visit the Advantech web site at www advantech com support where you can find the latest information about the product 2 Contact your distributor sales representative Advantech s customer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version application software etc A complete description of the problem The exact wording of any error messages iii PCL 833 User Manual Warnings Cautions and Notes Warning Warnings indicate conditions which if not observed can cause personal injury Caution Cautions are included to help you avoid damaging hardware or losing data e g A There is a danger of a new battery exploding if it is incorrectly installed Do not attempt to recharge force open or heat the battery Replace the battery only with the same or equivalent type recommended by the man ufa
22. tions to ward off possible ESD damage Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body One can also use a grounding strap contact between the antistatic bag and ground before opening After taking out the module you should first Inspect the module for any possible signs of external damage loose or damaged components etc If the module is visibly damaged please notify our service depart ment or our local sales representative immediately Avoid using a damaged module with your system m Avoid physical contact with materials that could hold static electricity such as plastic vinyl and Styrofoam 5 PCL 833 User Manual PCL 833 User Manual Installation amp Jumpers m Hardware Installation m Software Installation m Switch 8 Jumper Settings Connector Pin Assignments 2 1 Hardware installation Warning Disconnect power from PC when you install or remove the PCL 833 or its cable 1 Turn off the computer and all peripheral devices such as printers and monitors 2 Disconnect the power cord and any other cables from the back of the computer Turn the chassis so the back of the unit faces you 3 Remove the chassis cover see your computer users guide if necessary 4 Locate the expansion slots at the rear of the unit and choose an unused slot 5 Remove the screw that secures the expansion slot cover to the chassis Save the screw
23. ture input counter mode Quadrature input consists of two square wave inputs A and B which are 90 drgess out of phase The PCL 833 counts the square wave transitions and determines the direction by comparing whether channel A is leading channel B or vice versa There are three different counting methods in quadrature input mode X1 The counter will increment or decrement the counter whenever a rising edge occurs on input channel A X2 The counter will increment or decrement whenever a rising or falling edge occurs on input channel A 4 counter will increment or decrement whenever rising or falling edge occurs on input channel A or B 2 pulse mode In 2 pulse mode the PCL 833 uses two input pulses as counting sources one for clockwise CW and one for counter clockwise CCW counting The counter will dec rement whenever a rising edge occurs on channel A It will increment whenever a ris ing edge occurs on channel B Pulse direction mode In pulse direction mode the PCL 833 uses one input line A for pulse input and one line B for direction If channel B is high 1 the counter will decrement whenever a rising edge occurs on channel A If channel B is low 0 the counter will increment whenever a rising edge occurs on channel A Disabled mode PCL 833 will not accept input but you can still access all its registers You select the mode by programming the card s registers BASE O for BASEHI for CH2
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