http://usdigital.com/support/user-guides/ US Digital designs and manufactures optical encoders, inclinometers & motion control components. Our complete product line includes either absolute or incremental optical encoder & inclinometer products, stepper motors, PC interfaces, digital readouts, sw en-us Copyright 2008 US Digital. support@usdigital.com Thu, 29 Jul 2010 17:09:54 PDT Thu, 29 Jul 2010 17:09:54 PDT In house http://blogs.law.harvard.edu/tech/rss/ User Guides http://usdigital.com/support/user-guides/ed3-tachometer-worksheet This spreadsheet program helps the user of the ED3 set the correct parameters for the Tachometer mode.  Enter the encoder CPR and desired RPM resolution and see if it will give the desired RPM display results. Tachometer_spreadsheet.xls    (21KB) User GuidesWed, 10 Mar 2010 13:15:00 PST http://usdigital.com/support/user-guides/qsb-application-examples This document shows some examples of the comands necessary to activate some of the basic features available on the QSB product. QSB Application Examples.pdf    (314 KB) User GuidesWed, 03 Feb 2010 09:55:00 PST http://usdigital.com/support/user-guides/qsb-command-list This document describes the communication format for the QSB product.  It also lists and describes the commands available for the QSB device. QSB Commands List.pdf   (454KB) User GuidesTue, 08 Dec 2009 13:53:00 PST http://usdigital.com/support/user-guides/ad4b-communications-protocol The AD4B adapter provides a simple plug in method for connecting a single ended or differential quadrature encoder directly to an RS-232 serial com port. One end of the AD4 plugs into a serial port, while the other end plugs into a quadrature encoder. A quadrature counter ( LFLS7166 ) inside the AD4 keeps track of encoder position, while a microprocessor provides a serial interface for the user to query the counter for the encoder position. The bidirectional data lines carry commands from the host computer and responses from the AD4B . The format is 1 start bit, 8 data bits and 1 stop bit. The baud rate can be changed, but it always starts as 9600 baud after reset or power-up. Large numbers are transmitted with the most significant byte first. AD4 Serial Commands: Ping: Function: Test for the presence of an AD4. Send 1 byte: 'A' (41 hex) Returns 1 byte: '4' (34 hex) Read Position: Function: Latches the counter and returns the current position. Send 1 byte: 01 hex Returns 4 bytes: 4 byte current position, LSB first. The LFLS7166 is a 24-bit counter, the 4th position byte can be ignored. Initialize AD4's counter: Function: Initializes the LFLS7166, sets the quadrature to a specified multiplier, and loads the preset register with a specified value. Initialization data sent to the LFLS7166's registers: 68 hex, B0 hex, C0-3 hex ( see LFLS7166 web page ). Send 6 bytes: 22 hex, quadrature mode (0, 1, 2, 4), 4-byte preset register value Returns 1 byte: Checksum Read the Counter's Output Data Register: Function: Reads a byte directly from the LFLS7166's output latch(OL) ( see LFLS7166 web page ). Send 1 byte: 33 hex Returns 1 byte: Value of LFLS7166's OL, the OL consists of three bytes auto-incremented by each read, LSB first. Write to Counter's Input Data Register: Function: Writes a byte directly to the LFLS7166's preset register(PR), the PR consists of three bytes auto-incremented by each write, LSB first ( see LFLS7166 web page ). Send 2 bytes: 44 hex, 1-byte data Returns nothing. Read the Output Status Register: Function: Reads the LFLS7166's output status register(OSR) ( see LFLS7166 web page ). Send 1 byte: 55 hex Returns 1 byte: Value of LFLS7166's OSR. Write to the Counter Control Register: Function: Writes a byte directly to one of the LFLS7166's control registers. Bits 6 and 7 select which control register to write to ( see LFLS7166 web page ). Send 2 bytes: 66 hex, 1-byte register value Returns nothing. Change Baudrate: Function: The baudrate change will be effective after checksum is sent by the AD4. The baudrate always defaults to 9600 after a reset or power-up. Send 2 bytes: 77 hex, Baudrate Code (See table below) Returns 1 byte: Checksum Baud Rate Byte 0x00 0x01 0x10 0x11 0x12 0x13 0x14 0x15 Baud Rate 115200 57600 38400 19200 9600 4800 2400 1200 Enable Index: Function: Enables the Index. The counter will reset when index=true. Send 1 byte: 88 hex Returns 1 byte: 'E' (45 hex) Disable Index: Function: Disables the Index. Send 1 byte: 99 hex Returns 1 byte: 'D' (44 hex) User GuidesWed, 28 Oct 2009 15:29:00 PDT http://usdigital.com/support/user-guides/t7-dll-user-guide This document describes how to install and use the T7 DLL on a PC running Windows using the RS232 port or the US Digital USB-232 USB interface. T7 DLL User Guide.pdf  (529KB, 10/01/09)  User GuidesThu, 19 Feb 2009 07:45:00 PST http://usdigital.com/support/user-guides/t7-communication-user-guide This document describes the host serial port communication protocol of the T7-232/CANA-232/CANA-485 adapters. T7 Communication User Guide.pdf  (7/27/2009, 267 KB) User GuidesWed, 18 Feb 2009 13:56:00 PST http://usdigital.com/support/user-guides/usb1-to-usb4-upgrade-guide This is the USB1 to USB4 Upgrade Guide. USB1 to USB4 Upgrade Guide.pdf  (46 KB) User GuidesThu, 24 Jul 2008 11:38:00 PDT http://usdigital.com/support/user-guides/usb4-user-manual This is the User Manual version 1.4 for the USB4-S / USB4-D.  USB4 Manual.pdf (640 KB)   User GuidesMon, 21 Jul 2008 06:44:00 PDT http://usdigital.com/support/user-guides/usb1-manual This is the user manual for the USB1-S / USB1-D. USB1 Manual.pdf  (157 KB)   User GuidesTue, 01 Jul 2008 08:41:00 PDT http://usdigital.com/support/user-guides/pci-4e-manual This is the user manual for the PCI-4E-S / PCI-4E-D. PCI-4E Manual.pdf  (358 KB) User GuidesTue, 01 Jul 2008 07:01:00 PDT http://usdigital.com/support/user-guides/pci-3e-manual This is the user manual for the PCI-3E-S / PCI-3E-D. PCI-3E Manual_0.pdf , 15.27 MB, 3/15/10     User GuidesMon, 30 Jun 2008 17:11:00 PDT http://usdigital.com/support/user-guides/sei-serial-encoder-interface-bus SEI Data Sheet US Digital's SEI bus is a simple, quick and convenient way of networking devices to an RS232 serial port. The AD2-B adapter is available to interface to a standard RS232 port (9-pin DSUB) such as those in PCs. A wall-mount power supply furnishes the power for all devices on the SEI bus. SEI Network Absolute Maximum Ratings Parameter Min. Max. Units Operating temperature 0 45 C Humidity (non-condensing) 0 95 % Supply voltage (PWR) 0 16 Volts Interface The SEI bus can support 1 to 15 devices on the SEI bus. The network configuration can be a chain, star, or a combination of both and does not require cable terminations. The bidirectional data lines carry commands from the host computer and responses from the device(s). The format is 1 start bit, 8 data bits and 1 stop bit. The baud rate can be changed, but it always starts as 9600 baud after reset or power up. Since the data bus is bidirectional, the host must release the bus within 20 uSec after the last command byte to avoid contention with the device's response. The AD2-B adapter does this automatically and biases these lines with pull-up/down resistors to keep them in the inactive state when the bus is idle. The busy lines are used for flow control. When a device is busy, it asserts these lines in an open collector fashion by driving busy- low and busy+ high. They need to be biased at the host with pull-up/down resistors to keep them in the unasserted state (busy+ with a resistor to ground, busy- with a resistor to +5V) when they are not driven. They are driven by the device which has been addressed as an acknowledgment of the command. They stay asserted until the command is completed. While a device drives the busy line, all other devices on the bus ignore the data flow. If a single device is on the bus, the busy lines can be ignored and pulled to the unasserted state, but it is easier to communicate with it if they are connected. The maximum cable length from the SEI adapter to any device should be limited to 1000 feet. If the baud rate used is higher than 19.2 kbaud, the length should be reduced proportionally, ie: 200 ft at 115 kbaud. Contact us for information about longer cables at high baud rates. The power supply requirement is 5.5 volts min., which should be considered carefully when long cables are used, because of the voltage drop caused by the cable's resistance (a typical 26 AWG telephone cable is 40 Ohms per 1000 feet). For example, the SEI adapter provides 8 volts worst case. Unless power is supplied at several points along the cable, each network branch from the SEI adapter should be limited in length depending on how many devices it supports. See table below. DC Electrical Specifications The above is for over operating temperature range. Typical values are specified at Vcc=12V and 25C. Parameter Min. Typ. Max. Units Notes Supply voltage (PWR) 5.5 - 16 Volts   Differential output voltage |DataL - DataH|, |Busy+ - Busy-| 2   -   5   Volts   Load = 100 Ohms   Differential input voltage |DataL - DataH|, |Busy+ - Busy-| 0.2   -   5   Volts       Common mode input voltage (DataH+DataL)/2, (Busy-+Busy+)/2 2.0   2.5   3   Volts   Load = 100 Ohms   Common mode input voltage (DataH+DataL)/2, (Busy-+Busy+)/2 -4.5   -   3   Volts       AC Electrical Specifications Symbol Description Min. Max. Units Note TBH Host command to busy active 0.01 1 mSec 1 TR1 Encoder response time (1 byte command) 0.01 1 mSec - TR2 Encoder response time (Mult. byte command) 0.01 30 mSec 2 TBL Busy release time 0.01 0.1 mSec - TH1 Host response time 0 300 mSec 3 Single Byte Command Diagram Multi Byte Command Diagram Functional Pin Description Pin Name Description 1 GND Ground, common for power, data and busy pairs. 2 Busy+ Analog+ Bidirectional differential acknowledge line, active high (open source output, must be pulled down to ground). Analog version: positive analog voltage output. *A2 analog option only. 3 Busy- Analog- Bidirectional differential acknowledge line, active low (open drain output, must be pulled up to +5 Volt). Analog version: analog signal ground, connected to GND pin. *A2 analog option only. 4 PWR Power supply input. 5 DataL Bidirectional differential data line, non-inverted, and is pulled high through a 10k-ohm resistor to pin 4 PWR. 6 DataH Bidirectional differential data line, inverted, and is pulled low through a 10k-ohm resistor to pin1 GND. Cable Distance From AD2-B Adapter Devices 26 AWG cable 28 AWG cable 1 1000 ft 1000 ft 2 1000 ft 640 ft 3 670 ft 420 ft 5 400 ft 250 ft 10 200 ft 125 ft 15 125 ft 80 ft Caution: Do not use voice type telephone cables; they commonly reverse the pin-out (it will not destroy the device, but it will not work). The device network requires six wires straight (pin 1 to pin 1). We offer cables (26 AWG) of any length. General Notes The lines busy+ and busy- are differential, and they should not be terminated. The lines dataL and dataH are RS485-type differential lines. They don't need to be terminated for cables up to 1000 ft long at 19.2 kbaud (proportionally shorter at higher baud rates, i.e. 200 ft at 115 kbaud). If terminated, make sure the lines are biased such that dataL is above dataH by at least 2 volts. For implementations with long cables or several devices on the bus, the supply voltage at the host should be appropriately higher to compensate for voltage losses in the wires. A "star" bus topology is discouraged, better performance may be obtained from a "daisy-chain" bus topology. See the SEI-UPS uninterruptable power supply for the SEI bus for information on retaining power to SEI devices after a power failure.   User GuidesWed, 18 Jun 2008 11:26:00 PDT http://usdigital.com/support/user-guides/sei-absolute-encoder-communications-protocol SEI Absolute Encoder Communications Protocol Data Sheet Each encoder on the bus is assigned a unique address between 0 and E. The host computer is the master of the bus, while the encoders are slaves. Encoders cannot initiate communication, rather the host sends commands and the encoders respond. The first byte of a command always includes the address of the encoder to be selected. Address F is used to communicate to all devices on the bus at once. An encoder responds by activating the busy line if a valid command is received with the correct address. If the address is incorrect or the command is invalid (including framing errors), the encoder ignores the command. If the address is F, all encoders activate the busy line until the command is processed by everyone (wired-OR). If an encoder has the busy line active while processing a command, other encoders ignore all data. In the case of a single-byte command, the host only sends one byte which contains the address and the command. The selected encoder activates the busy line, sends the response, and then releases the busy line. In the case of a multiple-byte command, the host only sends the first byte which contains the address. The selected encoder activates the busy line to acknowledge the selection. The host sends the rest of the command and the busy line remains active until the particular command in completed. In the simplest single encoder configuration, if factory default modes don't need to be changed, only single-byte commands are needed. Large numbers are transmitted with the most significant byte first. Single Byte User Commands: Request Command: 7 6 5 4 3 2 1 0 cmd3 cmd2 cmd1 cmd0 addr3 addr2 addr1 addr0 Addr3-0: Address of encoder to be selected (0 to E). Address F selects any and all encoders on the bus. If there is only one encoder on the bus, address F can be used for all operations. If there are multiple encoders on the bus, address F is only useful for a few commands. cmd3-cmd0 request type 0000 (reserved for control codes) 0001 position 0010 position + 1 byte status 0011 position + 2 bytes time + status 0100 strobe 0101 sleep 0110 wakeup 0111 reserved 1000 reserved 1001 reserved 1010 reserved 1011 reserved 1100 reserved 1101 reserved 1110 reserved 1111 (multiple byte command) Position: The encoder sends its current position. The format is either 1 or 2 bytes in single-turn mode, 4 bytes in multi-turn mode, most significant byte first, (see "Change Mode Command" for details). Time: The encoder sends the 2 byte value of its free running counter at the time of the position reading - most significant byte first. The counter increments at 1.843MHz 1% (1 count per 0.54 usec). Strobe: stb = 1, the encoder operates in strobe mode: it waits for a strobe request before reading the position; this mode is used to synchronize multiple encoders. After entering this mode, wait at least 2 msec before sending the first strobe command. stb = 0, the encoder operates in asynchronous mode: it reads the position within 4 milliseconds (8 milliseconds for A2I) and sends the most current position when requested. The data can be from 0 to 4 milliseconds old (8 milliseconds for the A2I ). Sleep: The encoder goes to sleep (without responding) after the command is executed, and the current consumption drops below 0.6 mA. If there are multiple encoders on the bus, use address F to put them all asleep at once. Any activity on the data bus wakes up all encoders (use wakeup command). Wakeup: This command wakes up all encoders on the bus, but the encoders do not respond. Wait at least 5 msec after this command to send the next command. Status: The encoder sends 1 byte status as follows: 7 6 5 4 3 2 1 0 err3 err2 err1 err0 sum3 sum2 sum1 sum0 err3-err0 meaning Corresponding SEI Error Code 0000 no error n/A 0001 not enough light 28101 0010 too much light 28102 0011 misalignment or dust 28103 0100 misalignment or dust 28104 0101 misalignment or dust 28105 0110 hardware problem 28106 0111 fast mode error (V1.X) 28107 1000 multiturn pos. not initialized 28108 Sum3-0 Exclusive OR of all 4-bit nibbles of the request byte received and data bytes returned by the encoder, excluding the status byte. This is a good check of data integrity, especially in the case of a bus with multiple encoders. Note: In multi-turn mode, the error 1000 is sent until a "set origin" or a "set position" command is received. This allows the host to know a reset or power loss has occurred and the multi-turn position is no longer valid. Multiple Byte Commands: All multiple byte commands start with the request byte F0+addr; after receiving this byte, the addressed encoder will acknowledge by activating the busy line. After the acknowledgment, the encoder is ready to receive the rest of the command. Some commands may require the use of address F to select all encoders on the bus (like check serial number, baud rate change, etc...). When addressing multiple encoders, after the first busy received, wait 5 msec to send the rest of the command, to make sure they are all ready. When the command is successfully completed, the encoder sends a checksum byte, and then releases the busy line. If the command is invalid or failed, the encoder releases the busy line without sending a checksum. The checksum byte is the exclusive OR of the request byte, command bytes, and bytes returned by the encoder. Set Origin Command: 2 bytes: request byte, 01 Returns checksum if command is successful. Sets the absolute 0 at the current position. In single-turn mode, the new origin is stored in EEPROM, therefore, it will be effective after resets and power downs until a "Set Origin" or a "Set Absolute Position" command is received. In multi-turn mode, the 32 bit counter is reset, but not stored in EEPROM. This is effective until a reset occurs or a " Set Origin " or a " Set Absolute Position " command is received. Set Absolute Position Command: Single-turn: 4 bytes: request byte, 02, pos MS byte, pos LS byte. Multi-turn: 6 bytes: request byte, 02, 4 bytes pos (MS to LS). Returns checksum if command is successful. Sets the given absolute position (at the current resolution) at the current position. In single-turn mode, the new origin is stored in EEPROM, therefore it will be effective after resets and power downs, until a " Set Origin " or a " Set Absolute Position " command is received. In multi-turn mode, the 32 bit counter is set, but not stored in EEPROM. This is effective until a reset occurs or a " Set Origin " or a " Set Absolute Position " command is received. Read Serial Number: 2 bytes: request byte, 03 Returns 5 bytes: 4 bytes serial number and checksum if command is successful. Check Serial Number: 10 bytes: request byte, 04, 4 bytes serial number, 4 bytes mask. Returns nothing. The encoder does a logical AND of its serial number with the mask supplied; the result is compared to the serial number supplied. If they match, the busy line is held active until another byte is received. Otherwise the busy line is released. This command is used to determine if an encoder with a particular serial number is present on the bus. Fail Serial Number: 10 bytes: request byte, 05, 4 bytes serial number, 4 bytes mask. Returns nothing. The encoder does a logical AND of its serial number with the mask supplied; the result is compared to the serial number supplied. If they dont match, the busy line is held active until another byte is received. If they match the busy line is released. This is useful to determine if an encoder, whose serial number is known, is the only one on the bus. Get Address: 6 bytes: request byte, 06, 4 bytes serial number. Returns 2 bytes: 1 byte address and checksum if command is successful, only if serial number matches. The encoder compares its serial number with the one supplied; if they match, it returns its address (0 to E). Otherwise, it returns nothing. Assign Address: 7 bytes: request byte, 07, 4 bytes serial number, 1 byte address. Returns checksum if command is successful. The encoder compares its serial number with the one supplied; if they match, it assigns itself the address supplied (must be between 0 and E). The new address is stored in EEPROM, therefore, it will be effective after resets and power downs. Read Factory Info: 2 bytes: request byte, 08 Returns 15 bytes: 2 bytes model number, 2 bytes version, 2 bytes configuration, 4 bytes serial number, month, day, 2 bytes year and checksum if command is successful. Read Resolution Command: 2 bytes: request byte, 09 Returns 3 bytes: resolution MS byte, resolution LS byte and checksum if command is successful. A zero value means 16 bit resolution. Change Resolution Command: 4 bytes: request byte, 0A, resolution MS byte, resolution LS byte. Returns checksum if command is successful. The resolution can be any number between 0 and FFFF, 0 is for full 16 bit position. However, the accuracy is only guaranteed to 12 bits. The new resolution is stored in EEPROM, therefore, it will be effective after resets and power downs. Read Mode Command: 2 bytes: request byte, 0B Returns 2 bytes: mode and checksum if command is successful. Change Mode Command (temporary): 3 bytes: request byte, 0C, mode. Returns checksum if command is successful. The mode is changed temporarily and will be effective until the encoder is reset, power down, or another mode change command is received. It is not stored in the EEPROM. Mode byte as follows: 7 6 5 4 3 2 1 0 0 /256 0 incr size multi stb rev Reverse: rev = 1, the position increases counter clockwise. rev = 0, the position increases clockwise. Strobe: stb = 1, the encoder operates in strobe mode: it waits for a strobe request before reading the position; this mode is used to synchronize multiple encoders. After entering this mode, wait at least 2 mSec before sending the first strobe command. stb = 0, the encoder operates in asynchronous mode: it reads the position within 2 mSec and sends the most current position when requested. The data can be from 0 to 2 mSec old. Multi: multi = 1, multi-turn mode: a 32 bit counter keeps track of the position (it increases or decreases over multiple turns, i.e. 3 1/2 turns at a resolution of 100 would be 350). This counter is cleared at reset. multi = 0, single-turn mode: position is between zero and the max resolution, according to the shaft angle. Note: in older versions (V1.X), this bit indicated a fast mode (3msec update rate) with a 9 bit accuracy. Also, any other command besides position inquires can corrupt the multi-turn position. Size: only effective in single-turn mode: size = 1: the encoder always sends the position in 2 bytes, even if the resolution is 256 decimal or less. size = 0: the position is sent as 1 byte if the resolution is up to 256 decimal, or as 2 bytes if above 256 decimal. In multi-turn mode, the position is always 4 bytes and this bit is ignored. Incr: only effective in multi-turn mode: incr = 1: the encoder sends the position change since the last request, as a 32 bit signed number. incr = 0: the encoder sends the position as a 32 bit signed number. /256: only available for analog version only effective in multi-turn mode: /256 = 1: the encoder position is divided by 256. /256 = 0: the encoder position is normal. Change Power Up Mode Command: 3 bytes: request byte, 0D, mode. Returns checksum if command is successful. Same as " Change Mode Command " described above, except the mode is stored in EEPROM, therefore it will be effective after resets and power downs. Reset Command: 2 bytes: request byte, 0E Returns checksum if command is successful. After releasing the busy line the encoder does a software reset (the baud rate returns to 9600 after the checksum byte is sent). The encoder requires 35msec after reset to be ready to receive new commands. The other ways to reset are: turning the power off, or sending a break condition (dataL low, dataH high) for at least 1 second. Note that the reset threshold of the power input is between 4.5 and 5.5 volts. The EEPROM parameters are not affected, but any temporary mode changes or baud rate change are lost. User Diagnostic Commands: Loopback Mode: 2 bytes: request byte, 10 Returns no checksum. After receiving this command the encoder returns every byte it receives. This is useful to test the SEI bus. The busy line remains active during this test. The test is aborted if a delay of 350msec or more occurs. (rev 1.01 firmware was 35msec). The host must release the data lines after each byte sent, to allow the encoder to respond. The AD2 adapter does this automatically. Off line Command: 2 bytes: request byte, 11 Returns checksum if command is successful. After releasing the busy line the encoder does not respond to any command. To place it back on line it must receive a break condition (dataL low, dataH high) for at least 1 second or power down and up again. We do not recommend using this command. It may be removed in a future firmware revision. Change Baud Rate Command (temporary): 3 bytes: request byte, 0F, baud rate byte Returns checksum if command is successful. The rate will be changed as follows and will be effective after checksum is sent until the encoder is reset or another baud rate change command is received. At reset, the baud rate always defaults to 9600. Note: If multiple encoders are on the same bus, use address F to set them all to the same baud rate. Baud Rate Byte 0x00 0x01 0x10 0x11 0x12 0x13 0x14 0x15 Baud Rate 115200 57600 38400 19200 9600 4800 2400 1200 User GuidesWed, 11 Jun 2008 16:33:00 PDT http://usdigital.com/support/user-guides/x3-dll-user-guide This document describes how to install and use the X3 DLL on a PC running Windows using the RS232 port or the US Digital USB-232 USB interface. X3 DLL User Guide (3/19/2008, 742.99kb) User GuidesTue, 03 Jun 2008 10:24:00 PDT http://usdigital.com/support/user-guides/x3-rs232-serial-communication-user-guide This document describes how to talk to the X3 using the RS232 serial interface. The serial interface allows the user to reconfigure the X3 output angle range, angle offset, damping time, output configuration, etc. The document details all low level serial commands. For PC applications, US Digital provides a DLL and PC software that allows the user to talk to the X3 using Windows function calls. X3 RS232 Communication User Guide (3/31/2008, 204.56 KB) User GuidesTue, 03 Jun 2008 10:18:00 PDT