C-programmable Motion Controller PCI/DSP The PCI/DSP combines 4 axis model C-programmable motion control with a high speed PCI bus C-programmable using MEI standard C function libraries (over 250 functions) Fast host communication across PCI bus Shielded high-density connectors The PCI/DSP uses a powerful Analog Devices DSP to pro- Supports both servos and steppers vide 4 axes of servo or stepper control in a single PCI bus slot. Hardware features include 16-bit servo outputs, 24 user I/O lines encoder inputs to 5 MHz, and 24 lines of opto-isolated user I/O. 16-bit servo output resolution You program the PCI/DSP using MEI's flexible C func- 550 kHz step/direction output tion libraries with over 250 motion control functions. Combining MEI C libraries with compilers from Microsoft, Point-to-point and coordinated motion Borland, Watcom, and others speeds development of com- Supports Windows NT, Windows 95/98, plex motion applications. VxWorks, and DOS The PCI/DSP provides a rich set of software algorithms, Flexible DSP architecture allows on-the- including a sophisticated second-order PID control algo- fly changes to many motion parameters 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 PCI/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 PCI/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 variables as well as the trigger point for determin- start_point_list(); move_2(x1,y1); developed on the ing when the next frame should be executed. move_2(x2,y2); end_point_list(); PCI/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++ Windows 95 Borland C/C++ Windows 98 Watcom C/C++ Variety of Motion Profiles With a single C function, DOS Visual BASICS for Windows you can program independent or simultaneous point-to-point motion for up to four axes (with VxWorks GNU your choice of trapezoidal, parabolic,S-curve, or user-defined profiles). You can trigger I/O bits on- the-fly for specified positions, velocities, or times. *PID and Notch Filters The PCI/DSP uses a soft- ware PID control algorithm optimized for high per- formance. This PID algorithm delivers quick up- Advanced Motion Features date rates, stable operation, and easy tuning. An • electronic gearing & camming optional post-PID notch filter is available to eliminate • coordinated motion with acceleration blend- mechanical while (! done) ing, cubic splining, or circular interpolation { printf("Set SlavingRatio? ") ; resonances in gets(buffer) ; • feed-speed override with pause-on-path done=scanf(buffer,"%lf",&ratio)!=1; a closed-loop • tangential following and laser power control* if (! done) system (op- { endlink (SLAVE); • position latching (under 4 microseconds) set_position(3,0) ; tional at no set_position(1,0) ; • analog & encoder-based jogging link(3,1, ratio, ACTUAL) ; cost in vol- } • sinusoidal commutation* ume). } • dual-loop control Sample master/slave routine • linear interpolation • high-speed registration • direct data acquisition (A/D & D/A) *Optional at no cost in volume 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, 4 Inputs Serial Data on-board encoder inputs can detect broken or Analog Servo 4 Devices Outputs shorted encoder wires, detect an illegal state, and 8 Analog DSP (16-bit D/A) Inputs digitally filter serious noise. EIC ensures that prob- lems with either the encoder or its wiring won’t Dedicated I/O (6 lines/axis) Step/ DSP 4 result in a runaway condition. Direction Memory Outputs User I/O (up to 20 lines) Hardware features PCI/DSP Hardware • 16-bit servo output resolution Architecture • 32-bit or 48-bit accuracy in all kinematic PCI Bus Interface functions (position, velocity, and acceleration) • shielded high-density connectors • support for servo and steppers on one board High-Performance DSP Architecture The PCI/DSP • step output rates up to 550 kHz uses a high-performance DSP to execute real-time motion control algorithms, offloading non-real- time functions to the host. The PCI/DSP buffers VHDCI-68 Connector commands from the host and stores motion and (2 per PCI/DSP) I/O sequences on-board. 0.5A 5V supply 5V (1 per connector) This efficient division of labor frees the host from real-time requirements and enables fast host-to-DSP D Analog Inputs A communication across the PCI bus. Even complex (4 per connector) functions require virtually no CPU time once mo- Encoder A + EIA-422 tion starts. Encoder B _ Inputs Index Step Step EIA-422 Fast Communications The host compiles C func- Dir Direction ection Outputs In-P In-Pos os tions and transmits them as binary strings across Pos_Lim the high speed PCI bus. While the DSP can inter- Neg_Lim Opto-isolated Home Inputs rupt the host to request data or initiate other ac- Amp_Fit tions, no host involvement is required once com- Amp_Enable Opto-isolated output piled commands are downloaded. Command Output The host CPU can access all on-board peripheral functions (such as digital I/O) without interrupt- VHDCI-50 Connector ing the real-time con- set_feedback(linear,ENCODER); set_feedback(rotary,ENCODER); (1 per PCI/DSP) trol loop calculations set_dual_loop(linear,rotary,TRUE); Bi-directional of the DSP. Sample dual-loop control routine Opto-isolated User I/O Fast bus communications also allow the PCI/DSP to take full advantage of ever-expanding host CPU 0.5A performance. 5V supply 5V PCI/DSP Specifications Processor Dedicated I/O (per axis) Environmental Conditions • Analog Devices, 10-20 MHz DSP • Operating temperature: 0-50 degrees C • Five opto-isolated signals per axis, 5V - 24V logic: Home, Positive Limit, • Humidity: 20-95% RH, non-condensing Computer Interface Negative Limit, Amp Fault Inputs Construction • PCI bus Compatible • Optp-isolated Amp_Enable Output • Full SMT; 4-layer PCB • Binary communication up to • 6 EIA-422 signals per axis: Step, • 100% bed of nails and fully function- 30 Mbytes/sec Direction, In_Position outputs, ally tested with 24-hour burn-in • Host CPU interrupts Encoder A, B, Index Inputs Analog Inputs (per board) Software Development Tools User I/O (per board) • 8 channels, 12-bit A/D • MEI standard C function libraries • 24 lines of bi-directional user I/O • Configurable for 4-channel (over 250 functions) • Opto-isolated differential mode • Compilers: Microsoft, Borland, • 5V - 24V • 75 kHz sampling rate Watcom, GNU • 10 mA source or sink • Unipolar (0-5V) or bipolar (+/-2.5V) • Operating system support: • Direct access from host processor Kinematic Ranges Windows NT, Windows 95/98, • Position: 32-bit (±2.15 billion counts) VxWorks, and DOS • Velocity: 48-bit (±65 million Servo Loop Update Rate counts/sec at 2 kHz sampling) • User-programmable rate • Acceleration: 48-bit (±131 billion 2 counts/sec at 2 kHz sampling) • Maximum: 7.1 kHz (1 axis), • Jerk: 48-bit (±262 trillion counts/ 2.7 kHz (4 axes) 3 sec at 2 kHz sampling) • Default: 1.25 kHz Motion Control Features Servo Output • Point-to-point motion • ±10V DC at 16-bit resolution Corporate Headquarters • Coordinated motion • ±18 mA current 33 South La Patera Lane • Cubic spline motion • 100 ppm long-term velocity accuracy Santa Barbara • Electronic gearing and camming • Feed speed override California 93117-3214 Step Output • Dual-loop control ph (805) 681-3300 • Pulse rate ranges (16-bit resolution): • High inertia compensation fax (805) 681-3311 0 to 550 kHz • High-speed registration e-mail info@motioneng.com 0 to 300 kHz • Tangential following* www.info@motioneng.com 0 to 75 kHz • Laser power* 0 to 17 kHz Eastern Regional Office • Sinusoidal commutation* • RS-422 line driver outputs ph (978) 264-0051 Motion Profiles • ±20 mA current • Trapezoidal profile Philadelphia Development Office • Step/direction or clock up/clock • S-curve profile ph (215) 793-4220 down • Parabolic profile • Pulse width: 50% duty cycle • Custom (user-defined) Nagoya Technical Support Office ph 0532-45-3511 Position Feedback Connectors • Incremental encoder: 5 MHz, • 68-pin VHDCI connectors for Japan Regional Office single-ended or differential motion interface signals ph 03-5540-6431 • EIA-422 line receivers/digital • 50-pin VHDCI connectors for user e-mail info@motioneng.co.jp filtering I/O signals • Encoder checking: broken wire and European Regional Office Power Requirements illegal state detection ph 49 (0) 8122 961750 • +5 V Icc = 0.8 A max • Analog position feedback • +12V Icc = 10 mA max All trademarks are the property of respective owners. • -12V Icc = 20 mA max All specifications are subject to change without notice. Rev. 2/00 *Optional at no cost in volume