DR. JOHANNES HEIDENHAIN GmbH

IK 220 Linux Driver
===================



1. Contents
---------

The Linux driver is provided as tar.gz file and comprises the following files:

ik220.c		IK220 Linux driver C source code
ik220.h		IK220 Linux driver header file
ik220_if.h	IK220 Linux driver header file [IOCTL]
Pgm220.h	Firmware of the IK220 hardware

ik220.o		Compiled kernel module


ik220_lib.c	IK220 Functions library, source-code file
ik220_lib.h	IK220 Functions library, header file


ik220con	Console program to control EnDat units
IK220Con.c	Source code of the console program to control EnDat units
IK220Con.h	Header file of the console program to control EnDat units

ik220_read48	Console program to control 11 App units via READ48 
IK220_read48.c	Source code of the console program to control 11 App units via READ48 


compile.sh	Script for creating the kernel module and the program examples


Describe.txt	This file



2. Installation
---------------

The driver was created for the kernel version 2.4 and tested for Debian "unstable" (APR 05).

Log on as root and run "./compile.sh".
All module are compiled now. As a result you obtain the file "ik220.o".

Now load the driver into the kernel: "insmod ik220.o". 

When doing so observe the messages in the log:  "tail -f /var/log/messages"

Afterwards you need to load the driver into the Dev file system: "mknod /dev/ik220 c 61 0"
Now the driver is available to the system!

Start your console program: "./ik220_read48"
You will receive some status information on IK220 and the current count of the 0 axis.



3. Library contents
-------------------

IK220Find	Find installed IK220 and assign addresses
IK220Init	Initialize IK220 and download firmware
IK220Version	Read program version
IK220Reset	Reset counter
IK220Start	Start counter
IK220Stop	Stop counter
IK220ClearErr	Clear frequency and amplitude errors
IK220Latch	Latch current count
IK220ResetRef	Reset counter on next reference mark
IK220StartRef	Start counter on next reference mark
IK220StopRef	Stop counter on next reference mark
IK220LatchRef	Latch counter on next reference mark
IK220Read32	Read current count (32 bits)
IK220Read48	Read current count (48 bits)
IK220DoRef	Start reference mark traverse
IK220CancelRef	Cancel reference mark traverse
IK220WritePar	Write parameter
IK220ResetEn	Reset EnDat encoder
IK220ConfigEn	Configuration of EnDat encoder
IK220ReadEn	Read absolute value of EnDat encoder
IK220ModeRam	Stored counter values can be transferred to a buffer.
IK220BurstRam	Counter values previously stored in the RAM buffer are output.
IK220LatchInt	Generates a signal for Latch 0.
IK220LatchExt	Generates a signal for extern using.
IK220ModeTimer	Specifies whether the timer signal is output.
 

4. History
----------

04.10.2004	V0.10	First release
			Basic functions are available
			compile.sh created

13.04.2005	V0.20	New IK220 Firmware
			New Functions	IK220ModeRam
				    	IK220BurstRam
					IK220LatchInt
					IK220LatchExt
					IK220ModeTimer		


5. Licensing conditions
-----------------------

This is experimental software. The use of this software is at your own risk. 
Under no circumstances shall DR. JOHANNES HEIDENHAIN GmbH be liable for damage 
to hardware and software, for data loss and other damage directly or indirectly 
caused by using this software. If you do not agree with these conditions, you 
must not use or pass on the software. The software and its source code may be 
edited and expanded. Commercial distribution is permitted.

The software may only given to a third party after this party has signed the 
exemption from liability of DR. JOHANNES HEIDENHAIN GmbH. If the software is 
given to a third party without exemption from liability, DR. JOHANNES HEIDENHAIN GmbH 
shall not be liable for any claims the third party may assert against 
DR. JOHANNES HEIDENHAIN GmbH.


6. Support
----------

As described in the licensing agreement, this driver is to be considered as 
an example. If you require support in implementing your solution, we will
be glad to assist you.


HEIDENHAIN
------------------------------------------
DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Strae 5
83301 Traunreut, Germany

Phone: +49(8669)31-0
e-mail: info@heidenhain.de
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Measuring systems (IK220 Support)
Phone:	+49(8669)31-3104
e-mail	service.ms-support@heidenhain.de
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www.heidenhain.de

