DSPlite PC-104 Analog C-programmable Motion Controller 104/DSP C-programmable using MEI standard C function libraries (over 250 functions) PC-104 card supports up to 4 axes MEI's 104/DSP brings the ultimate Fast host communication across PC-104 in motion control to the compact, rugged PC-104 bus. bus at 1.2 MB/sec Supports both servos and steppers The 104/DSP combines MEI's proven DSP-based motion 20 user I/O lines control architecture with the compact, rugged design of the PC-104 bus interface. Hardware features include 16- 16-bit servo output resolution bit servo outputs, encoder inputs to 5 MHz, and 20 lines of user I/O. 375 kHz step/direction output You program the 104/DSP using MEI's flexible C func- Point-to-point and coordinated motion tion libraries with over 250 motion control functions. Supports DOS, Windows 3.X, Windows NT, Combining MEI C libraries with compilers from Microsoft, Windows95, Lynx/OS, VxWorks, QNX, Borland, Watcom, Symantec, and others speeds develop- VRTX, and OS/9 ment of complex motion applications. Flexible DSP architecture allows on-the- The 104/DSP provides a rich set of software algorithms, fly changes to many motion parameters including a sophisticated second-order PID control algo- rithm with velocity, acceleration, and friction feed-forward. Advanced features include electronic gearing and camming, dual-loop control, circular and linear interpo- lation, and trapezoidal, S-curve, parabolic, and custom motion profiles. The 104/DSP allows motion control programs to share execution between the on-board DSP (for numerically intensive real-time functions) and the host (for non-real- time functions). This results in an ideal division of labor with minimal host intervention. Software Features Powerful C-programming Libraries The 104/DSP Powerful Frame Architecture To create a motion draws both its power and flexibility from MEI’s sequence, the DSP executes a series of “frames” C function libraries. that are generated by MEI C library functions and These libraries en- set_move_speed(speed); sent from the host. Each frame is an array of 20 set_move_accel(accel); able applications words that contain position, velocity, acceleration, start_point_list(); move_2(x1,y1); developed on the jerk, I/O status, and trigger information. move_2(x2,y2); end_point_list(); 104/DSP to run on With up to 600 frames stored on-board, the any MEI motion Sample coordinated motion routine 104/DSP can buffer complex motion sequences controller. in memory for minimal host involvement. The host The MEI C libraries contain over 250 functions downloads frames and the 104/DSP executes you can use to create motion control programs them. For additional frames, either the host polls from simple point-to-point motion to complex Frame 2 Frame 4 the board's Slewing Slewing multi-axis coordinated motion. Along with source Frame 5 buffer status Velocity Frame 3 Decelerate Turn on I/O Turn off I/O code, MEI provides hundreds of sample applica- or the 104/ Frame 1 Frame 6 tions to help speed development. Acceleration DSP sends an Zero Velocity Frame 7 interrupt to I/O Dwell Development Environment MEI controllers sup- Status the host. Time port most popular compilers and operating sys- tems, including those with true multitasking. Variety of Motion Profiles With a single C function, you can program independent or simultaneous Operating Systems Compilers point-to-point motion for up to four axes (with DOS Microsoft Visual C/C++ your choice of trapezoidal, parabolic, Windows 3.x Borland C/C++ S-curve, or user-defined profiles). You can trigger Windows NT Watcom C/C++ I/O bits on-the-fly for specified positions, veloci- Windows95 Symantec C/C++ ties, or times. Lynx/OS Visual BASIC for Windows VxWorks GNU Advanced Motion Features QNX • electronic gearing & camming OS/9 • coordinated motion with acceleration blend- PID and Notch Filters The 104/DSP uses a software ing, cubic splining, or circular interpolation PID control algorithm optimized for high perfor- • feed-speed override with pause-on-path mance. This PID algorithm delivers quick update • tangential following and laser power control rates, stable operation, and easy tuning. An option- • position latching (under 4 microseconds) al post-PID • encoder-based jogging while (! done) notch filter is • sinusoidal commutation { printf("Set SlavingRatio? ") ; gets(buffer) ; available to • dual-loop control done=scanf(buffer,"%lf",&ratio)!=1; eliminate me- if (! done) • multiple coordinate systems { endlink (SLAVE); chanical reso- set_position(3,0) ; • helical and linear interpolation set_position(1,0) ; nances in a link(3,1, ratio, ACTUAL) ; • high-speed registration } closed-loop } • direct D/A outputs system. Sample coordinated motion routine Hardware Features Position Feedback Up to four encoder inputs ac- cept position feedback at up to 5 MHz. With MEI’s Encoder unique Encoder Integrity Checking (EIC) feature, Feedback Analog Devices Servo Inputs 40 MHz Serial Output on-board encoder inputs can detect broken or Digital Signal Data (16-bit D/A) Processor shorted encoder wires, detect an illegal state, and 20 lines Data User I/O Bus digitally filter serious noise. EIC ensures that prob- Step/ Direction lems with either the encoder or its wiring won’t Memory Output 6 lines/axis result in a runaway condition. Dedicated I/O 104/DSP Hardware Hardware features Architecture • 16-bit servo output resolution PC-104 Bus • 32-bit or 48-bit accuracy in all kinematic Interface functions (position, velocity, and acceleration) • no arcane proprietary command languages High-Performance DSP Architecture The 104/DSP • support for servo and steppers on one board uses a high-performance 40 MHz DSP to execute • step output rates up to 375 kHz real-time motion control algorithms, offloading • optional support for Temposonics sensors non-real-time functions to the host. The 104/DSP buffers commands from the host and stores mo- Motor/Encoder Pin-outs tion and I/O sequences on-board. Pin Signal Pin Signal 1 +5V 27 Positive Limit(0) This efficient division of labor frees the host from 3 Encoder A(0) + 29 Negative Limit(0) real-time requirements and enables fast host-to-DSP 5 Encoder A(0) - 31 Home Input(0) 7 Encoder B(0) + 33 Amp Fault(0) communication across the PC-104 bus. Even com- 9 Encoder B(0) - 35 Amp Enable(0) plex functions require virtually no CPU time once 11 Encoder Index(0) + 37 In Position (0) 13 Encoder Index(0) - 39 User I/O PA0 motion starts. 15 ±10V Analog Out(0) 41 User I/O PA1 17 GND 43 User I/O PA2 19 Step Pulse (0) +* 45 User I/O PC0 Fast Communications The host compiles C func- 21 Step Pulse (0) -* 47 User I/O PC1 23 Direction(0) +* 49 GND tions and transmits them as binary strings across 25 Direction(0) - * the PC-104 bus at speeds up to 1.2 MB/sec. While the DSP can interrupt the host to request data or initiate other actions, no host involvement is re- quired once compiled commands are downloaded. The host CPU can access all on-board peripheral functions (such as digital I/O) without interrupt- ing the real-time con- set_feedback(linear,ENCODER); set_feedback(rotary,ENCODER); trol loop calculations set_dual_loop(linear,rotary,TRUE); of the DSP. Sample dual-loop control routine Fast bus communications also allow the 104/DSP to take full advantage of ever-expanding host CPU NOTE: One axis connection shown; 100-pin high-density performance by leveraging the multitasking capa- connector supports up to 4 axes bilities of the Windows NT operating system. * Clock up/down optional 104/DSP 104/DSP Specifications Processor Dedicated I/O (per axis) • Analog Devices, 40 MHz DSP • TTL compatible, 4.0 mA drive • Inputs: positive and negative limits, Computer Interface home, amp-fault (SCR clamp protected) • PC-104 Compatible • Outputs: in-position, amp-enable • Switch-selectable address, I/O User I/O (per board) mapped • 20 lines, user programmed mode: • Binary communication up to input or output 1.2 MB/sec • TTL compatible, 4.0 mA drive • Host CPU interrupts • Direct access from host CPU Software Development Tools Kinematic Ranges • MEI standard C function libraries • Position: 32-bit (±2.15 billion counts) (over 250 functions) • Velocity: 48-bit (±65 million • Compilers: Microsoft, Borland, counts/sec at 2 kHz sampling) Watcom, Symantec, GNU • Acceleration: 48-bit (±131 billion • Operating system support: DOS, 2 counts/sec at 2 kHz sampling) Windows 3.X, Windows NT, Win- Corporate Headquarters • Jerk: 48-bit (±262 trillion counts/ dows95, Lynx/OS, VxWorks, QNX, 33 South La Patera Lane 3 sec at 2 kHz sampling) VRTX, OS/9 Santa Barbara Motion Control Features California 93117-3214 Servo Loop Update Rate • Point-to-point motion ph (805) 681-3300 • User-programmable rate • Coordinated motion fax (805) 681-3311 • Maximum: 10 kHz (1 axis), • Cubic spline motion e-mail info@motioneng.com 3.0 kHz (4 axes) • Electronic gearing and camming • Default: 1.25 kHz • Feed speed override Eastern Regional Office • Dual-loop control Boston, Massachusetts Servo Output • High inertia compensation ph (508) 264-0051 • ±10V DC at 16-bit resolution • High-speed registration fax (508) 264-0057 • ±18 mA current • Tangential following* • 100 ppm long-term velocity accuracy Midwestern Regional Office • Laser power* • Sinusoidal commutation* Chicago, Illinois Step Output ph (312) 631-4992 Motion Profiles • Pulse rate ranges (16-bit resolution): fax (312) 631-4936 • Trapezoidal profile 0 to 375 kHz • S-curve profile 0 to 93.75 kHz Japan Regional Office • Parabolic profile 0 to 23 kHz Tokyo, Japan • Custom (user-defined) • RS-422 line driver outputs ph 03-5229-7007 • ±20 mA current fax 03-3235-5655 Power Requirements • Step/direction or clock up/clock • +5 V Icc = 0.8 A max down* Motion Engineering is represented by: • +12V Icc = 10 mA max • Pulse width: 50% duty cycle • -12V Icc = 20 mA max Position Feedback Environmental Conditions • Incremental encoder: 5 MHz, • Operating temperature: 0-50 degrees C single-ended or differential • Humidity: 20-95% RH, non-condensing • RS-422 line receivers/digital Construction filtering • Full SMT; 4-layer PCB • Encoder checking: broken wire and illegal state detection • 100% bed of nails and fully function- All trademarks are the property of respective owners. ally tested with 24-hour burn-in All specifications are subject to change without notice. • Temposonics support: direct M001-0020 Rev. 6/96 connection* • UL and CE compliant *Optional at no cost in volume