Advantech PCI-1784U User manual

PCI-1784U
4-Axis Quadrature Encoder
& Counter Card
User Manual

PCI-1784U User Manual ii
Copyright
The documentation and the software included with this product are copy-
righted 2008 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 man-
ual 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 reli-
able. However, Advantech Co., Ltd. assumes no responsibility for its use,
nor for any infringements 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.
Part No. 2003178420 Edition 3.1
Printed in Taiwan June 2008

iii
Product Warranty (2 years)
Advantech warrants to you, the original purchaser, that each of its prod-
ucts will be free from defects in materials and workmanship for two years
from the date of purchase.
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 instal-
lation. Advantech assumes no liability under the terms of this warranty as
a consequence of such events.
Because of Advantech’s high quality-control standards and rigorous test-
ing, most of our customers never need to use our repair service. If an
Advantech product is defective, 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 man-
ual, 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 war-
ranty service.
5. Write the RMA number visibly on the outside of the package and
ship it prepaid to your dealer.

PCI-1784U User Manual iv
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.
FCC Class A
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 environ-
ment. 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. Opera-
tion of this equipment in a residential area is likely to cause harmful inter-
ference in which case the user will be required to correct the interference
at his own expense.
FCC Class B
Note: This equipment has been tested and found to comply with the limits
for a Class B digital device, pursuant to part 15 of the FCC Rules. These
limits are designed to provide reasonable protection against harmful
interference in a residential installation. This equipment generates, uses
and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interference to radio
communications. However, there is no guarantee that interference will
not occur in a particular installation. If this equipment does cause harmful
interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct
the interference by one or more of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to
which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.

v
FM
The PCI-1784U has passed the FM certification. According to the
National Fire Protection Association, work sites are classified into differ-
ent classes, divisions and groups, based on hazard considerations.
PCI-1784U is compliant with the specifications of Class I, Division 2,
Groups A, B, C and D indoor hazards.
Technical Support and Assistance
Step 1. Visit the Advantech web site at www.advantech.com/support
where you can find the latest information about the product.
Step 2. Contact your distributor, sales representative, or Advantech's cus-
tomer 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, appli-
cation software, etc.)
- A complete description of the problem
- The exact wording of any error messages
Safety Instructions
1. Read these safety instructions carefully.
2. Keep this User's Manual for later reference.
3. Disconnect this equipment from any AC outlet before cleaning.
Use a damp cloth. Do not use liquid or spray detergents for clean-
ing.
4. For plug-in equipment, the power outlet socket must be located
near the equipment and must be easily accessible.
5. Keep this equipment away from humidity.
6. Put this equipment on a reliable surface during installation. Drop-
ping it or letting it fall may cause damage.
7. The openings on the enclosure are for air convection. Protect the
equipment from overheating. DO NOT COVER THE OPENINGS.
8. Make sure the voltage of the power source is correct before con-
necting the equipment to the power outlet.

PCI-1784U User Manual vi
9. Position the power cord so that people cannot step on it. Do not
place anything over the power cord.
10. All cautions and warnings on the equipment should be noted.
11. If the equipment is not used for a long time, disconnect it from the
power source to avoid damage by transient overvoltage.
12. Never pour any liquid into an opening. This may cause fire or elec-
trical shock.
13. Never open the equipment. For safety reasons, the equipment
should be opened only by qualified service personnel.
14. If one of the following situations arises, get the equipment checked
by service personnel:
a. The power cord or plug is damaged.
b. Liquid has penetrated into the equipment.
c. The equipment has been exposed to moisture.
d. The equipment does not work well, or you cannot get it to work
according to the user's manual.
e. The equipment has been dropped and damaged.
f. The equipment has obvious signs of breakage.
15. 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 DAM-
AGE THE EQUIPMENT. THE EQUIPMENT SHOULD BE IN A
CONTROLLED ENVIRONMENT.
16. CAUTION: DANGER OF EXPLOSION IF BATTERY IS
INCORRECTLY REPLACED. REPLACE ONLY WITH THE
SAME OR EQUIVALENT TYPE RECOMMENDED BY THE
MANUFACTURER, DISCARD USED BATTERIES ACCORD-
ING 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).
DISCLAIMER: This set of instructions is given according to IEC 704-1.
Advantech disclaims all responsibility for the accuracy of any statements
contained herein.

vii
Safety Precaution - Static Electricity
Follow these simple precautions to protect yourself from harm and the
products from damage.
1. To avoid electrical shock, always 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.
2. Disconnect power before making any configuration changes. The
sudden rush of power as you connect a jumper or install a card may
damage sensitive electronic components.

PCI-1784U User Manual viii

ix Table of Contents
Contents
Chapter 1 Introduction ..................................................... 2
1.1 Features ............................................................................ 2
1.2 Applications ..................................................................... 4
1.3 Installation Guide ............................................................. 5
Figure 1.1:Installation Flow Chart ................................. 6
1.4 Software Overview ........................................................... 7
1.5 Device Driver Programming ............................................ 8
1.6 Accessories ..................................................................... 10
Chapter 2 Installation ..................................................... 12
2.1 Unpacking ...................................................................... 12
2.2 Driver Installation .......................................................... 13
2.3 Hardware Installation ..................................................... 17
Figure 2.1:Device Name on the Device Manager ........ 18
2.4 Device Setup & Configuration........................................ 19
Figure 2.2:Device Manager Dialog Box ...................... 19
Chapter 3 Signal Connections ........................................ 22
3.1 Overview ........................................................................ 22
3.2 Switch & Jumper Settings .............................................. 22
Figure 3.1:Card Connectors, Jumpers & Switches ...... 22
Table 3.1:Summary of Jumper Settings ....................... 22
3.3 Signal Connections ......................................................... 24
Figure 3.2:I/O Connector Pin Assignments ................. 24
Table 3.2:I/O Connector Signal Descriptions .............. 25
Figure 3.3:Quadrature Encoder (up/down) Input ........ 27
Figure 3.4:Isolated Digital Input Connections ............. 28
Figure 3.5:Isolated Digital Output Connections .......... 28
Appendix A Specifications ................................................. 30
Appendix B Block Diagram............................................... 34
Appendix C Register Structure & Format....................... 36
C.1 Overview ........................................................................ 36
C.2 I/O Port Address Map ................................................... 36
Table C.1:Register Format (Part 1) .............................. 37
Table C.2:Register Format (Part 2) .............................. 38
Table C.3:Register Format (Part 3) .............................. 39
C.3 Counter 0/1/2/3 Mode - BASE+00/04/08/0CH .............. 40
Table C.4:Register for Counter 0/1/2/3 Mode ............. 40
C.4 Counter 0/1/2/3 Latch - BASE+00/04/08/0CH .............. 42
Table C.5:Register for Counter 0/1/2/3 Latch Data ..... 42
C.5 Counter 0/1/2/3 Compare - BASE+10/14/18/1CH ........ 43
Table C.6:Register for Counter 0/1/2/3 Compare Data 43
C.6 Interrupt Control Register - BASE+20H ........................ 44
Table C.7:Register for Interrupt Control ..................... 44
C.7 Interrupt Status Register - BASE+20H .......................... 45

PCI-1784U User Manual x
Table C.8:Register for Interrupt Status ........................ 45
C.8 Clear Interrupt - BASE+24H .......................................... 46
Table C.9:Register for Clock Control .......................... 46
C.9 Clear Interrupt - BASE+24H .......................................... 47
Table C.10:Register for Clear Interrupt ....................... 47
C.10 Software Latch - BASE+28H.......................................... 47
Table C.11:Register for Software Latch ...................... 47
C.11 Board ID — BASE+28H ............................................... 48
Table C.12:Board ID Data ........................................... 48
C.12 Reset Counter - BASE+2CH........................................... 49
Table C.13:Register for Reset Counter ........................ 49
C.13 Digital Output - BASE+30H........................................... 49
Table C.14:Register for Digital Output ....................... 49
C.14 Digital Input/Output - BASE+30H ................................. 50
Table C.15:Register for Digital Input/Output .............. 50
C.15 Index Reset Counter- BASE+44H .................................. 50
Table C.16:Register for Reset counter ......................... 50
Appendix D Operation ....................................................... 52
D.1 Quadrature Encoder Introduction ................................... 52
D.2 Counter Modes ............................................................... 53
D.3 Digital Noise Filter ......................................................... 54
D.4 Latch Mode .................................................................... 55
D.5 Counter Reset Value ....................................................... 56
D.6 Timer Function................................................................ 56
D.7 Interrupt Function .......................................................... 57

2
CHAPTER
1
Introduction
Sections include:
• Features
• Applications
• Installation Guide
• Software Overview
• Device Driver Programming
• Accessories

PCI-1784U User Manual 2
Chapter 1 Introduction
Thank you for buying the Advantech PCI-1784U. The PCI-1784U is a 4-
axis quadrature encoder and counter card for PCI bus. This card includes
four 32-bit quadruple AB phase encoder counters, 8-bit timer with multi
range time-base selector, four isolated digital inputs, and four isolated
digital outputs. Its flexible interrupt sources are suitable for motor control
and position monitoring.
The following sections of this chapter will provide further information
about features of the multifunction cards, a Quick Start for installation,
together with some brief information on software and accessories for the
PCI-1784U card.
1.1 Features
• Four 32-bit up/down counters
• Single-ended or differential inputs
• Pulse/direction and up/down counter
• x1, x2, x4 counts for each encoder cycle
• Optically isolated up to 2500 VDC
• 4-stage digital filter with selectable sampling rate
• Onboard 8-bit timer with wide range time-based selector
• Multiple interrupt sources for precision application
• Four isolated digital inputs
• Four isolated digital outputs with flexible function
• Board ID

3 Chapter1
The PCI-1784U offers the following main features:
Encoder Interface
Each channel 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 PCI-1784U has four independent 32-bit counters. The maximum
quadrature input rate is 2 MHz, and the maximum input rate in counter
mode is 8 MHz. You can individually configure each counter for quadra-
ture decoding, pulse/direction counting or up/down counting.
Digital Input and Interrupts
The PCI-1784U provides four digital input channels. Each channel
accepts 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 and
over-compare/under-compare of its counters, or on a programmed time
interval. It can repeatedly generate interrupts at any time interval you
specify, from 20 microseconds to 51 seconds. These interrupts let you
precisely monitor the speed of a control system.
Flexible Digital Output function
The PCI-1784U provides four digital output channels. Each channel
accepts digital output as a normal TTL output for a rotary encoder or as
an indicated output with pulse/level mode for a linear encoder. The PCI-
1784U can generate an indicated output based on a signal from over-com-
pare/under-compare of its counters. The pulse width of an indicated out-
put depends on the counter clock or clear interrupt.

PCI-1784U User Manual 4
Special Shielded Cable for Noise Reduction
The PCL-10137H shielded cable is specially designed for the PCI-1784U
for reducing noise. Its wires are all twisted-pair type with the input sig-
nals and output signals separately shielded, providing minimal cross talk
between signals and the best possible protection against EMI/EMC prob-
lems.
Keeping the Counter Values & Output Status after System Reset
Users can independently use the four counter channels. When the system
is hot reset (power not shut down), the PCI-1784U can either retain the
last counter values and the output status, or return to its default configura-
tion, depending on the jumper setting. This practical function eliminates
dangers caused by improper operation during unexpected system reset.
Board ID
The PCI-1784U has a built-in DIP Switch that helps define each card’s ID
when multiple PCI-1784U cards have been installed on the same PC
chassis. The board ID setting function is useful when users build their
system with multiple PCI-1784U cards. With correct board ID settings,
you can easily identify and access each card during hardware configura-
tion and software programming.
1.2 Applications
• Motion control
• Position sensing, monitoring and measuring
• Coordinate measuring machines
• X-Y table monitors
• Robotics
• Machine control
Note: For detailed specifications of the PCI-1784U,
please refer to Appendix A, Specifications.

5 Chapter1
1.3 Installation Guide
Before you install your PCI-1784U card, please make sure you have the
following necessary components:
PCI-1784U DA&C card
PCI-1784U User’s Manual
Driver software Advantech DLL drivers (In the CD-ROM)
Wiring cable PCL-10137H (option)
Wiring board ADAM-3937 (option)
Computer PC with PCI-bus slot (Windows 2000/XP)
Other optional components are also available for enhanced operation:
Application software ActiveDAQPro, GeniDAQ or 3rd party software
After you get the necessary components and maybe some of the accesso-
ries for enhanced operation of your Multifunction card, you can then
begin the Installation procedures. Figure 1-1 on the next page provides a
concise flow chart to give users a broad picture of the software and hard-
ware installation procedures:

PCI-1784U User Manual 6
Figure 1.1: Installation Flow Chart
Install Driver from CD-ROM, then power-off PC
Install Hardware and power-on PC
Use driver utility to configure hardware
Use test utility to test hardware
Read examples & driver manual
Start to write your own application

7 Chapter1
1.4 Software Overview
Advantech offers a rich set of DLL drivers, third-party driver support and
application software to help fully exploit the functions of your PCI-
1784U card:
• Device Drivers (on the companion CD-ROM)
• LabVIEW driver
• LabVIEWDAQ driver
• Advantech ActiveDAQPro
• Advantech GeniDAQ
Programming choices for DA&C cards: You may use Advantech applica-
tion software such as Advantech Device Drivers. On the other hand,
advanced users are allowed another option for register-level program-
ming, although not recommended due to its laborious and time-consum-
ing nature.
Device Drivers
The Advantech Device Drivers software is included on the companion
CD-ROM at no extra charge. It also comes with all the Advantech DA&C
cards. Advantech’s device drivers feature a complete I/O function library
to help boost your application performance. The Advantech Device Driv-
ers for Windows 2000/XP works seamlessly with development tools such
as Visual C++, Visual Basic, Inprise C++ Builder and Inprise Delphi.
Register-level Programming
Register-level programming is reserved for experienced programmers
who find it necessary to write codes directly at the level of device regis-
ters. Since register-level programming requires much effort and time, we
recommend that you use the Advantech Device Drivers instead. How-
ever, if register-level programming is indispensable, you should refer to
the relevant information in Appendix C, Register Structure and Format,
or to the example codes included on the companion CD-ROM.

PCI-1784U User Manual 8
1.5 Device Driver Programming
This section will provide you a roadmap to demonstrate how to build an
application from scratch using Advantech Device Drivers with your
favorite development tools such as Visual C++, Visual Basic, Delphi and
C++ Builder. The step-by-step instructions on how to build your own
applications using each development tool will be given in the Device
Drivers Manual. Moreover, a rich set of example source codes is also
given for your reference.
Programming Tools
Programmers can develop application programs with their favorite devel-
opment tools:
• Visual C++
• Visual Basic
• Delphi
• C++ Builder
For instructions on how to begin programming works in each develop-
ment tool, Advantech offers a Tutorial Chapter in the Device Drivers
Manual for your reference. Please refer to the corresponding sections in
this chapter on the Device Drivers Manual to begin your programming
efforts. You can also look at the example source codes provided for each
programming tool, since they can get you very well oriented.
The Device Drivers Manual can be found on the companion CD-ROM.
Alternatively, if you have already installed the Device Drivers on your
system, The Device Drivers Manual can be readily accessed through the
Start button:
Start/Programs/Advantech Automation/Device Driver’s Manual
The example source codes could be found under the corresponding instal-
lation folder such as the default installation path:
\Program Files\Advantech\ADSAPI\Examples

9 Chapter1
For information about using other function groups or other development
tools, please refer to the Creating Windows 2000/XP Application with
Device Drivers chapter and the Function Overview chapter on the Device
Drivers Manual.
Programming with Device Drivers Function Library
Advantech Device Drivers offers a rich function library to be utilized in
various application programs. This function library consists of numerous
APIs that support many development tools, such as Visual C++, Visual
Basic, Delphi and C++ Builder.
According to their specific functions or services, those APIs can be cate-
gorized into several function groups:
• Digital Input/Output Function Group
• Counter Function Group
• Port Function Group (direct I/O)
• Event Function Group
For the usage and parameters of each function, please refer to the Func-
tion Overview chapter in the Device Drivers Manual.
Troubleshooting Device Drivers Error
Driver functions will return a status code when they are called to perform
a certain task for the application. When a function returns a code that is
not zero, it means the function has failed to perform its designated func-
tion. To troubleshoot the Device Drivers error, you can pass the error
code to DRV_GetErrorMessage function to return the error message, or
you can refer to the Device Drivers Error Codes Appendix in the Device
Drivers Manual for a detailed listing of the Error Code, Error ID and the
Error Message.

PCI-1784U User Manual 10
1.6 Accessories
Advantech offers a complete set of accessory products to support the PCI-
1784U card. These accessories include:
Wiring Cable
PCL-10137H The PCL-10137H shielded cable is specially designed for
PCI-1784U cards to provide high resistance to noise. To achieve a better
signal quality, the signal wires are twisted in such a way as to form a
“twisted-pair cable,” reducing cross talk and noise from other signal
sources. Furthermore, its analog and digital lines are separately sheathed
and shielded to neutralize EMI/EMC problems.
Wiring Boards
ADAM-3937 The ADAM-3937 is a 37-pin D-type wiring terminal mod-
ule for DIN-rail mounting. This terminal module can be readily con-
nected to the Advantech PC-Lab cards and allow easy yet reliable access
to individual pin connections for the PCI-1784U card.