ICPDAS I-8093W User manual

I-8093W/I-9093
Linux API Reference Manual
V2.0.0 July 2018
Written by Edward Ku
Edited by Anna Huang
5

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 2
Warranty
All products manufactured by ICP DAS are under warranty regarding defective materials for a period
of one year, beginning from the date of delivery to the original purchaser.
Warning
ICP DAS assumes no liability for any damage resulting from the use of this product. ICP DAS reserves
the right to change this manual at any time without notice. The information furnished by ICP DAS is
believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for its use,
nor for any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright © 2018 by ICP DAS Co., Ltd. All rights are reserved.
Trademarks
Names are used for identification purposes only and may be registered trademarks of their
respective companies.
Contact Us
If you have any problems, please feel free to contact us.
You can count on us for a quick response.
Email: [email protected]

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 3
Table of Contents
Table of Contents......................................................................................................................................3
Preface .....................................................................................................................................................5
1. Introduction......................................................................................................................................6
1.1. Specifications ........................................................................................................................8
1.2. Pin Assignments ..................................................................................................................10
1.3. Jumper Settings...................................................................................................................12
1.4. Wire Connections................................................................................................................14
1.5. Block Diagram .....................................................................................................................16
2. Quick Start ......................................................................................................................................17
2.1. Getting start on LinPAC Controllers......................................................................................18
3. Compare Trig Out............................................................................................................................23
4. API References................................................................................................................................24
4.1. i8093W_Init.........................................................................................................................27
4.2. i8093W_GetFirmwareVersion..............................................................................................28
4.3. i8093W_GetLibVersion........................................................................................................29
4.4. i8093W_SetMode ...............................................................................................................30
4.5. i8093W_GetMode...............................................................................................................31
4.6. i8093W_SetXOR ..................................................................................................................32
4.7. i8093W_GetXOR..................................................................................................................33
4.8. i8093W_GetLineStatus........................................................................................................34
4.9. i8093W_GetIndex................................................................................................................36
4.10. i8093W_Read32BitEncoder .............................................................................................37
4.11. i8093W_ResetEncoder ....................................................................................................38
4.12. i8093W_SetPresetValue ..................................................................................................39
4.13. i8093W_GetPresetValue..................................................................................................40
4.14. i8093W_ReadFreq ...........................................................................................................41
4.15. i8093W_SetIndexLatchStatus ..........................................................................................42
4.16. i8093W_GetIndexLatchStatus..........................................................................................44
4.17. i8093W_ClearLatchedIndex .............................................................................................45
4.18. i9093_SetExTrigMode......................................................................................................46
4.19. i9093_GetExTrigMode .....................................................................................................47
4.20. i9093_SetExSignal............................................................................................................48
4.21. i8093_GetExSignal...........................................................................................................49
4.22. i9093_SetPreTriggerSteps................................................................................................50
4.23. i9093_GetPreTriggerSteps ...............................................................................................51

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4.24. i9093_SetFirstTrigPosition ...............................................................................................52
4.25. i9093_GetFirstTrigPosition...............................................................................................53
4.26. i9093_SetTrigDistance .....................................................................................................54
4.27. i9093_GetTrigDistance.....................................................................................................55
4.28. i8093_ReadNextPosition..................................................................................................56
4.29. i9093_ClearNextPosition .................................................................................................57
4.30. i8093_ConfigTriggerOut...................................................................................................58
4.31. i9093_GetTriggerOutConfig .............................................................................................59
4.32. i9093_SetLowPassFilter ...................................................................................................60
4.33. i9093_GetLowPassFilter ..................................................................................................62
4.34. i9093_ReadIndexLatchedPosition ....................................................................................64
4.35. i9093_ReadExTrigLatchedPosition ...................................................................................65
Appendix A. Error Code ..........................................................................................................................66
Appendix B. Revision History ..................................................................................................................67

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 5
Preface
I-8093W/I-9093 are 3-axis encoder counter board. I-8093W/I-9093 encoder card has 32 bits counter and
high counting rate 10Mpps. The application of I-8093W/I-9093 board is position/distance measurement,
velocity measurement, feedback for motor control, hard wheel input and so on.
The information contained in this manual is divided into the following topics:
Chapter 1, “Introduction”–This chapter provides information related to the hardware, such as the
specifications, the jumper settings details and wiring information.
Chapter 2, “Quick Start”–This chapter provides information on how to get started, an overview of
the location of the demo programs, a “Getting Started Guide”, and an outline of the calibration
process.
Chapter 3, “Compare Trig Out” –This chapter introduces the attributes related to the Compare Trig
Out function, the programming procedures, and demo programs.
Chapter 4, “API References” –This chapter provides some troubleshooting solutions should you
encounter any problems while operating the I-8093W/9093.

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 6
1. Introduction
I-8093W is a 3-axis high speed encoder module. Its each axis can be independently configured as one of
A/B Phase, Pulse/Direction and CW/CCW input mode.
I-9093 is also a 3-axis encoder which included A/B Phase, Pulse/Direction and CW/CCW input mode with
compare trigger output function.
It can generate a periodic trigger signal when the motor reaches a specified position.
The specified position is called a breakpoint and is similar to a switch that is triggered after the motor
passes a certain position.
The high-end specifications of I-8093W/I-9093 and complete software support make it ideal for wide
range applications in position measurement of motion systems for industrial and laboratory
environment.
Applicable Platform table
The following table shows which platform the module applies to.
Platform
OS
Module
XPAC
XP-8000(WES)
I-8093W
XP-8000-Atom (WES)
I-8093W
XP-8000-WES7 (WES7)
I-8093W
XP-8000-CE6 (WinCE 6.0)
I-8093W
XP-8000-Atom-CE6 (WinCE 6.0)
I-8093W
XP-9000-WES7(WES7)
I-9093
WinPAC
WP-8000 (CE 5.0/7.0)
I-8093W
WP-9000-CE7 (CE 7.0)
I-9093
LinPAC
LinPAC-8000(Linux kernel 3.2/4.4)
I-8093W
LinPAC-9000(Linux kernel 3.2/4.4)
I-9093
IPAC
iPAC-8000 (MiniOS7)
I-8093W
I-8000 (MiniOS7)
I-8093W

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 7
Features
Model
I-8093W
I-9093
Encoder Axis
3-axis
Encoder Counter
32-bit
Encoder counting mode
A/B Phase , Dir/Pulse , CW/CCW
Input Level
5V/12V/24V
Max. Speed
4M hz
6M hz
System LED Indicator
1 LED as Power Indicator
9 LED as Status Indicator
1 LED as Power Indicator
12 LED as Status Indicator
Dimension (L x W x H)
102 mm x 30 mm x 115 mm
144 mm x 30.3 mm x 134 mm
The difference between I-8093W and I-9093
Functions
I-8093W
I-9093
CW/CCW


Dir/Pulse


A/B Phase


Read Encoder


XOR Bit


Index Latched Status


Read Frequency


External Trig Mode


Compared Trig Out


Previous Trig Steps


Low Pass Filter



I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 8
1.1. Specifications
Model
I-8093W
I-9093
Encoder Input
Encoder Axis
3-axis
Encoder Counter
32-bit
Encoder Mode
A/B Phase , CW/CCW , Pulse/Dir
Input Level
5V
Logic High: 4 V ~ 5 V
Logic Low: 0 V ~ 2 V
(Jumper Select)
Logic High:3.5 V ~ 5 V
Logic Low:0.8V Max
(Jumper Select)
12V
Logic High: 5 V ~ 12 V
Logic Low: 0 V ~ 2 V
(external resistor 1 K ohm)
Logic High: 5 V ~ 12 V
Logic Low: 0 V ~ 2 V
(external resistor 1 K ohm)
24V
Logic High: 7 V ~ 24 V.
Logic Low: 0 V ~ 2 V
(Jumper Select)
Logic High:10 V ~ 24 V
Logic Low:0.8V Max
(Jumper Select)
Max. Speed
Quadrant
1 MHz
2 MHz Max.
CW/CCW
4 MHz
6 MHz
Pulse/Dir
4 MHz
6 MHz
Programmable Digital Filter
--
1 ~ 250 μs
A/B/C signal isolation
2500 VDC
2500 VDC
External Input
Channel
--
3
ON Voltage Level
--
+3.5 VDC ~ +5 VDC Or 10 VDC
~ 24 VDC(Jumper Select)
OFF Voltage Level
--
+0.8 VDC Max.
Trigger Output
Channel
--
3
Trigger Pulse Width
--
10 uS~ 128 uS
Load Voltage
--
5 ~ 48 V
Max Load Current
--
100 mA
LED Indicators
System LED Indicator
1 LED as Power Indicator
9 LED as Status Indicator
1 LED as Power Indicator
12 LED as Status Indicator
Isolation
Intra-module Isolation, Field-to-Logic
2500 Vrms
3000 VDC

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 9
EMS Protection
ESD(IEC 61000-4-2)
±4 kV Contact for Each
Terminal
±4 kV Contact for Each
Terminal
--
±8 kV Air for Random Point
Power
Power Consumption
2 W Max.
Mechanical
Dimension (L x W x H)
102 mm x 30 mm x 115 mm
144 mm x 30.3 mm x 134 mm
Environment
Operating Temperature
-25 °C ~ +75°C
Storage Temperature
-30 ~ 85 °C
-40 ~ +85°C
Humidity
5 ~ 95 % RH, Non-condensing
10 ~ 90% RH, non-condensing

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 10
1.2. Pin Assignments
I-8093W

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 11
I-9093

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 12
1.3. Jumper Settings
I-8093W
5V / 24V Input Level
Enable / Disable 5V power supply
5V
Enable
24V
Disable

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 13
I-9093
5V / 24V Input Level
5V
24V

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 14
1.4. Wire Connections
I-8093W

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I-9093

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 16
1.5. Block Diagram
I-8093W
I-8014CW/I-9014C

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 17
2. Quick Start
ICP DAS provides a range of demo programs for different platforms that can be used to verify the
functions of the I-8093W/9093. The source code contained in these programs can also be reused in your
own custom programs if needed. The executable file, can be used to retrieve the basic configuration
information related to the module and to verify the functions.
1. First, user need to download LinPAC SDK, which is includes GNU toolchain, Libraries, header,
examples files, etc.
2. Check the power cable, Ethernet cable, VGA monitor, the communication cable between controller
and PC has been connected well, and then check the I-8093W/9093 has been plugged in the
controller.
3. Next, check the communication between controller and PC is fine, and download the demo
program files to the controller.
4. User can find the related files in the product CD or below website:
http://www.icpdas.com/root/product/solutions/pac/linpac/linpac-8000_download.html

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 18
2.1. Getting start on LinPAC Controllers
This part will show the functions of I-8093W with 'demo8093' file.
After execute 'demo8093W.exe' file you can see the functions as following picture:

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 19
There are 4 options you can choose for each channel.
(1) (STOP , CW/CCW , Dir/Pulse , A/B Phase)
CW/CCWCounting
The counter operation for Up/Down mode is as follows:
When InA0 is used as an UP_clock and InB0 is used as a DOWN_clock, counter_0 will be increased
by one forevery falling edge ofInA0 and decreased by one forevery falling edge of InB0.
CountN the current counter value for channel N,32bits wide, from -2147483648 to
2147483647
OverflowN 0 = no overflow
1 = overflow
This gives the following:

I-8093W/I-9093 I/O Module User Manual, v2.0.0 P. 20
Dir/PulseCounting
The counter operation for Dir/Pulse mode is as follows:
When InB0 is used as Dir:
If InB0 is High, counter_0 will be increased by one for every falling edge of InA0.
If InB0 is Low, counter_0 will be decreased by one for every falling edge of InA0.
CountN the current counter value for channel N,32bits wide, from -2147483648 to
2147483647
OverflowN 0 = no overflow
1 = overflow
This gives the following: