PC104 View Datasheet(PDF) - PMD
Part Name
Description
MFG CO.
'PC104' PDF : 70 Pages View PDF
Operation
2
Example
The Navigator instruction set is very flexible and powerful. The following simple example, to set up
and execute a simple trapezoidal profile, illustrates just a small part of the overall command set.
PMDSetProfileMode(axis_handle, trapezoidal);
PMDSetPosition(axis_handle, position_value);
PMDSetVelocity(axis_handle, velocity_value);
PMDSetAcceleration(axis_handle, acceleration_value);
PMDSetDeceleration(axis_handle, deceleration_value);
PMDUpdate(axis_handle);
Two separate manuals describe how the Navigator motion processor operates and how it is
programmed, the Navigator Motion Processor User’s Guide, and the Navigator Motion Processor
Programmer’s Command Reference.
2.3 Card Specific Functions
Card-specific functions are those functions that are mapped through the motion processor’s
ReadIO and WriteIO facility, but are implemented in the card circuitry.
Card-specific functions are detailed in this document, the Navigator-PC/104’s User’s Guide, rather than
the Navigator Motion Processor User’s Guide, or the Navigator Motion Processor Programmer’s Command
Reference.
2.3.1 General Purpose Digital I/O
In addition to numerous special-purpose digital signals that are input or output to the card such as
AxisIn, AxisOut, Home, QuadA, etc., the Navigator-PC/104 cards support 8 general-purpose inputs,
and 8 general-purpose outputs. These signals provide a convenient way of accessing additional general
purpose digital I/O. Although access to these signals occurs through the motion processor’s ReadIO and
WriteIO command, the signals present at these various connections do not directly affect the motion
processor’s behavior. Thus the motion processor simply passes them through to the host.
ReadIO and WriteIO commands
The 8 inputs and outputs are read using the ReadIO command and WriteIO command, with an I/O
address of 0. The table below shows this, along with the bit locations of the input and output signals.
Address
0
Bit location
0-7
8-15
Signals
DigitalOut0-7
DigitalIn0-7
To read the 8 general purpose digital I/Os, a ReadIO command is performed at address offset 0. The 16 bit read
word returns the current output values (set using the WriteIO command) in bits 0-7, while bits 8-15 hold the
digital values corresponding to the signal levels at the J1 and J7 connectors, pins 36-39, for those inputs. To write
new signal values to the 8 digital outputs, a WriteIO command to address offset 0 is sent, and the values on bits
0-7 will be output to the signal connectors at J1 and J7, pins 41-44. The value of bits 8-15 are ignored.
Navigator-PC/104 User’s Guide
23
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