ISA Analog C-programmable Motion Controller LC/DSP 1, 2, 3, and 4 axis models C-programmable using MEI standard The LC/DSP is MEI's price C function libraries (over 250 functions) and performance leader, combining an Analog Devices DSP with extensive C function libraries. Fast host communication across ISA bus Supports both servos and steppers The LC/DSP offers excellent price and performance in a 20 user I/O lines single-board motion controller. A powerful Analog De- vices DSP provides up to 4 axes of servo or stepper con- 16-bit servo output resolution trol in a single ISA bus slot. Hardware features include 16-bit servo outputs, encoder inputs to 5 MHz, and 20 375 kHz step/direction output lines of user I/O. Point-to-point and coordinated motion You program the LC/DSP using MEI's flexible C function libraries with over 250 motion control functions. Com- Supports Windows NT, Windows95, bining MEI C libraries with compilers from Microsoft, Windows 3.X, DOS, VxWorks, Lynx/OS, Borland, Watcom, Symantec, and others speeds develop- pSOS, and QNX ment of complex motion applications. Flexible DSP architecture allows on-the- The LC/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 LC/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 LC/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. generated by the MEI C library and sent from the set_move_speed(speed); These libraries en- host. Each frame specifies trajectory calculation set_move_accel(accel); able applications start_point_list(); variables as well as the trigger point for determin- move_2(x1,y1); developed on the ing when the next frame should be executed. move_2(x2,y2); end_point_list(); LC/DSP to run on Setup and Tuning Tools To set up and configure any MEI motion Sample coordinated motion routine your system, you can use Motion Console, a Win- controller. dows-based program that lets you spin motors with The MEI C libraries contain over 250 functions just a few mouse clicks. you can use to create motion control programs Using Motion Console, you can install and config- from simple point-to-point motion to complex ure multiple controllers, modify tuning parameters, multi-axis coordinated motion. Along with source check axis status, and graph motion in real time. code, MEI provides hundreds of sample applica- tions to help speed development. Development Environment MEI controllers sup- port most popular compilers and operating sys- tems, including those with true multitasking. Operating Systems Compilers Windows NT Microsoft Visual C/C++ Windows95 Borland C/C++ Windows 3.X Watcom C/C++ Variety of Motion Profiles With a single C function, DOS Symantec C/C++ you can program independent or simultaneous point-to-point motion for up to four axes (with VxWorks Visual BASIC for Windows your choice of trapezoidal, parabolic,S-curve, or Lynx/OS GNU user-defined profiles). You can trigger I/O bits on- pSOS the-fly for specified positions, velocities, or times. QNX PID and Notch Filters The LC/DSP uses a software Advanced Motion Features PID control algorithm optimized for high perfor- • electronic gearing & camming mance. This PID algorithm delivers quick update • coordinated motion with acceleration blend- rates, stable operation, and easy tuning. An option- ing, cubic splining, or circular interpolation al post-PID • feed-speed override with pause-on-path while (! done) notch filter is { printf("Set SlavingRatio? ") ; • tangential following and laser power control available to gets(buffer) ; done=scanf(buffer,"%lf",&ratio)!=1; • position latching (under 4 microseconds) eliminate me- if (! done) { endlink (SLAVE); • encoder-based jogging chanical reso- set_position(3,0) ; set_position(1,0) ; • sinusoidal commutation nances in a link(3,1, ratio, ACTUAL) ; } • dual-loop control closed-loop } • linear interpolation system. Sample coordinated motion routine • high-speed registration • direct D/A outputs Hardware Features Position Feedback Up to four encoder inputs ac- cept position feedback at up to 5 MHz. With MEI’s Data Bus Encoder unique Encoder Integrity Checking (EIC) feature, Inputs Serial Data Analog Servo on-board encoder inputs can detect broken or 4 Devices Outputs DSP (16-bit D/A) shorted encoder wires, detect an illegal state, and Dedicated I/O digitally filter serious noise. EIC ensures that prob- (6 lines/axis) lems with either the encoder or its wiring won’t Step/ 4 DSP Direction Memory result in a runaway condition. Outputs User I/O (up to 20 lines) Hardware features LC/DSP Hardware • 16-bit servo output resolution Architecture ISA Bus Interface • 32-bit or 48-bit accuracy in all kinematic functions (position, velocity, and acceleration) • no arcane proprietary command languages • support for servo and steppers on one board High-Performance DSP Architecture The LC/DSP • step output rates up to 375 kHz uses a high-performance DSP to execute real-time motion control algorithms, offloading non-real- time functions to the host. The LC/DSP buffers commands from the host and stores motion and Motor/Encoder Pin-outs 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 ISA bus. Even complex 9 Encoder B(0) - 35 Amp Enable(0) functions require virtually no CPU time once mo- 11 Encoder Index(0) + 37 In Position (0) 13 Encoder Index(0) - 39 User I/O PA0 tion 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 ISA bus at speeds up to 1.2 MB/sec. While the DSP can interrupt the host to request data or ini- tiate other actions, no host involvement is required 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 LC/DSP to take full advantage of ever-expanding host CPU NOTE: One axis connection shown; 100-pin high-density connector supports up to 4 axes performance by leveraging the multitasking capa- * Clock up/down optional bilities of the Windows NT operating system. LC/DSP LC/DSP Specifications Processor Dedicated I/O (per axis) • Analog Devices, 10-20 MHz DSP • TTL compatible, 4.0 mA drive • Inputs: positive and negative limits, Computer Interface home, amp-fault (SCR clamp protected) • ISA Compatible • Outputs: in-position, amp-enable • Switch-selectable address, User I/O (per board) I/O mapped • 20 lines, user programmed mode: • Binary communication up to Corporate Headquarters input or output 1.2 Mbytes/sec 33 South La Patera Lane • TTL compatible, 4.0 mA drive • Host CPU interrupts Santa Barbara • Direct access from host CPU California 93117-3214 Software Development Tools Kinematic Ranges ph (805) 681-3300 • MEI standard C function libraries • Position: 32-bit (±2.15 billion counts) fax (805) 681-3311 (over 250 functions) • Velocity: 48-bit (±65 million e-mail info@motioneng.com • Compilers: Microsoft, Borland, counts/sec at 2 kHz sampling) www.info@motioneng.com Watcom, Symantec, GNU • Acceleration: 48-bit (±131 billion 2 • Operating system support: counts/sec at 2 kHz sampling) Eastern Technical Support Office Windows NT, Windows95, Windows • Jerk: 48-bit (±262 trillion counts/ Boston, Massachusetts 3.X, DOS, VxWorks, Lynx/OS, pSOS, 3 sec at 2 kHz sampling) ph (978) 264-0051 and QNX Motion Control Features Philadelphia Development Office Servo Loop Update Rate • Point-to-point motion Philadelphia, Pennsylvania • User-programmable rate • Coordinated motion ph (215) 793-4220 • Cubic spline motion • Maximum: 10 kHz (1 axis), • Electronic gearing and camming 3.0 kHz (4 axes) Midwestern Technical Support Office • Feed speed override • Default: 1.25 kHz Chicago, Illinois • Dual-loop control ph (773) 631-4992 Servo Output • High inertia compensation • ±10V DC at 16-bit resolution • High-speed registration Japan Regional Office • Tangential following* • ±18 mA current Tokyo, Japan • Laser power* ph 03-5229-7007 • 100 ppm long-term velocity accuracy • Sinusoidal commutation* Step Output Motion Profiles • Pulse rate ranges (16-bit resolution): • Trapezoidal profile 0 to 375 kHz • S-curve profile 5 5 0 to 93.75 kHz • Parabolic profile 0 to 23 kHz YEAR YEAR • Custom (user-defined) WARRANTY WARRANTY • RS-422 line driver outputs Power Requirements • ±20 mA current Motion Engineering is represented by: • +5 V Icc = 0.8 A max • Step/direction or clock up/clock • +12V Icc = 10 mA max down* • -12V Icc = 20 mA max • Pulse width: 50% duty cycle Environmental Conditions Position Feedback • Operating temperature: 0-50 degrees C • Incremental encoder: 5 MHz, • Humidity: 20-95% RH, non-condensing single-ended or differential • RS-422 line receivers/digital Construction filtering • Full SMT; 4-layer PCB All trademarks are the property of respective owners. All specifications are subject to change without notice. • 100% bed of nails and fully function- • Encoder checking: broken wire and M001-0017 Rev. 11/97 ally tested with 24-hour burn-in illegal state detection *Optional at no cost in volume