DSP PC-104 Analog C-programmable Motion Controller 104X/DSP First 8-axis PC-104 motion controller The 104X/DSP combines Extended form factor (4.5" x 6.5") MEI's extensive C function libraries with a PC-104 bus and an extended form factor. C-programmable using MEI standard C function libraries (over 250 functions) The 104X/DSP combines MEI's proven DSP-based mo- Fast host communication across PC-104 tion control architecture with the compact, rugged de- bus at 1.2 MB/sec sign of the PC-104 bus interface in an extended form fac- tor (4.5" x 6.5") for OEM system designers. The 104X/ Supports both servos and steppers DSP is ideal for OEM embedded motion control applica- Requires no expensive backplane or tions because it requires no expensive backplane or motherboard motherboard. Up to 44 user I/O lines You program the 104X/DSP using MEI's flexible C func- tion libraries, with over 250 motion control functions. 16-bit servo output resolution MEI C libraries combine with compilers from Microsoft, Borland, Watcom, Symantec, and others to speed devel- 375 kHz step/direction output opment of complex motion applications. Point-to-point and coordinated motion The 104X/DSP provides a rich set of software algorithms, including a sophisticated second-order PID control algo- Supports DOS, Windows 3.X, Windows NT, Windows95, Lynx/OS, VX Works, QNX, rithm with velocity, acceleration, and friction feed-forward. VRTX, and OS/9 Advanced features include electronic gearing and Flexible DSP architecture allows on-the- camming, dual-loop control, circular and linear interpo- fly changes to many motion parameters lation, and trapezoidal, S-curve, parabolic, and custom motion profiles. The 104X/DSP controller allows motion control programs to share execution between the on-board DSP (for nu- merically-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 104X/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(); 104X/DSP to run With up to 600 frames stored on-board, the on any MEI motion Sample coordinated motion routine 104X/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 104X/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 104X/ Frame 1 Frame 6 Acceleration tions to help speed development. Zero Velocity DSP sends an 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 eight 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 104X/DSP uses a soft- ing, cubic splining, or circular interpolation ware PID control algorithm optimized for high per- • feed-speed override with pause-on-path formance. This PID algorithm delivers quick up- • tangential following and laser power control date rates, stable operation, and easy tuning. An • position latching (under 4 microseconds) optional post- • analog and encoder-based jogging PID notch fil- while (! done) • sinusoidal commutation { printf("Set SlavingRatio? ") ; ter is available gets(buffer) ; • dual-loop control done=scanf(buffer,"%lf",&ratio)!=1; to eliminate if (! done) • multiple coordinate systems { endlink (SLAVE); mechanical set_position(3,0) ; • helical and linear interpolation set_position(1,0) ; resonances in link(3,1, ratio, ACTUAL) ; • analog scale interpolation } a closed-loop } • high-speed registration system. Sample coordinated motion routine • direct data acquisition (A/D and D/A) Hardware Features Position and Analog Feedback Up to eight encoder Encoder inputs accept position feedback at up to 5 MHz. Feedback Inputs Analog Devices With MEI’s unique Encoder Integrity Checking Servo 40 MHz Serial Output Digital Signal Data 8 channels (EIC) feature, on-board encoder inputs can detect (16-bit D/A) Processor 12-bit Analog Inputs broken or shorted encoder wires, detect an illegal Data Bus state, and digitally filter serious noise. EIC ensures Step/ Up to 44 lines Direction User I/O that problems with either the encoder or its wir- Memory Output ing won’t result in a runaway condition. 6 lines/axis Dedicated I/O 104X/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 104X/ • support for servo and steppers on one board DSP uses a high-performance 40 MHz DSP to ex- • step output rates up to 375 kHz ecute real-time motion control algorithms, • optional support for Temposonics sensors offloading non-real-time functions to the host. The 104X/DSP buffers commands from the host and stores motion and I/O sequences on-board. Analog Input/Counter-Timer Pin-outs Pin Signal Pin Signal This efficient division of labor frees the host from 1 GND 2 GND real-time requirements and enables fast host-to-DSP 3 Clock 0 4 Analog In 0 5 -12V 6 Analog In 1 communication across the PC-104 bus. Even com- 7 +12V 8 Analog In 2 plex functions require virtually no CPU time once 9 +5V 10 Analog In 3 11 Gate 0 12 Analog In 4 motion starts. 13 Out 0 14 Analog In 5 15 Out 1 16 Analog In 6 17 Out 2 18 Analog In 7 Fast Communications The host compiles C func- 19 GND 20 GND tions and transmits them as binary strings across 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 and analog inputs) without interrupting set_feedback(linear,ENCODER); the real-time control set_feedback(rotary,ENCODER); set_dual_loop(linear,rotary,TRUE); loop calculations of Motor/Encoder Pin-outs Sample dual-loop control routine the DSP. Pin Signal Pin Signal 1 GND 2 5V 3 Encoder A+ 4 Encoder A- Fast bus communications also allow the 104X/DSP 5 Encoder B+ 6 Encoder B- to take full advantage of ever-expanding host CPU 7 Encoder Index + 8 Encoder Index - 9 ±10 V Analog Out 10 Step Pulse + * performance by leveraging the multitasking capa- 11 Step Pulse - * 12 Direction + * bilities of the Windows NT operating system. 13 Direction - * * Clock up/down optional 104X/DSP IAQ 234567 104X/DSP Specifications Processor User I/O (per board) • Analog Devices, 40 MHz DSP • 2/4 axis models: 44 lines 6/8 axis models: 24 lines Computer Interface • TTL compatible, 4.0 mA drive • PC-104 Compatible • Direct access from host CPU • Switch-selectable address, I/O Analog Inputs (per board) mapped • 8 channels, 12-bit A/D • Binary communication to 1.2 MB/sec • Configurable for 4-channel differen- • Host CPU interrupts tial mode Software Development Tools • 75 kHz sampling rate • MEI standard C function libraries • Unipolar (0-5V) or bipolar (± 2.5V) (over 250 functions) • Direct access from host processor • Compilers: Microsoft, Borland, Kinematic Ranges Watcom, Symantec, GNU • Position: 32-bit (±2.15 billion counts) • Operating system support: DOS, • Velocity: 48-bit (±65 million Windows 3.X, Windows NT, Win- counts/sec at 2 kHz sampling) dows95, Lynx/OS, VX Works, QNX, • Acceleration: 32-bit (±131 billion 2 VRTX, OS/9 counts/sec at 2 kHz sampling) Corporate Headquarters 3 • Jerk: 48-bit (262 trillion counts/sec Servo Loop Update Rate 33 South La Patera Lane at 2 kHz sampling) • User-programmable rate Santa Barbara Motion Control Features • Maximum: 10 kHz (1 axis), California 93117-3214 3.0 kHz (4 axes), 1.6 kHz (8 axes) • Point-to-point motion ph (805) 681-3300 • Default: 1.25 kHz • Coordinated motion fax (805) 681-3311 • Cubic spline motion Servo Output e-mail info@motioneng.com • Electronic gearing and camming • ±10V DC at 16-bit resolution • Feed speed override Eastern Regional Office • ±18 mA current • Dual-loop control Boston, Massachusetts • 100 ppm long-term velocity accuracy • High inertia compensation ph (508) 264-0051 Step Output • High-speed registration fax (508) 264-0057 • Pulse rate ranges (16-bit resolution): • Tangential following* 0 to 375 kHz • Laser power* Midwestern Regional Office 0 to 93.75 kHz • Sinusoidal commutation* Chicago, Illinois 0 to 23 kHz • Sinusoidal encoder interpolation* ph (312) 631-4992 • RS-422 line driver outputs Motion Profiles fax (312) 631-4936 • ±20 mA current • Trapezoidal profile • Step/direction or clock up/clock • S-curve profile Japan Regional Office down* • Parabolic profile Tokyo, Japan • Pulse width: 50% duty cycle • Custom (user-defined) ph 03-5229-7007 Position Feedback Power Requirements fax 03-3235-5655 • Incremental encoder: 5 MHz, • +5 V Icc = 0.9 A max single-ended or differential • +12V Icc = 10 mA max Motion Engineering is represented by: • RS-422 line receivers/digital filtering • -12V Icc = 20 mA max • Analog position feedback Environmental Conditions • Encoder checking: broken wire and • Operating temperature: 0-50 degrees C illegal state detection • Humidity: 20-95% RH, non-condensing • Temposonics support: direct Construction connection* • Full SMT; 4-layer PCB • 100% bed of nails and fully function- Dedicated I/O (per axis) ally tested with 24-hour burn-in • TTL compatible, 4.0 mA drive • UL and CE compliant • Inputs: positive and negative limits, All trademarks are the property of respective owners. All specifications are subject to change without notice. home, amp-fault (SCR clamp protected) Dimensions M001-0016 Rev. 6/96 • Outputs: in-position, amp-enable • Form factor 4.5" x 6.5" *Optional at no cost in volume