DSP ISA Analog C-programmable Motion Controller PCX/DSP C-programmable using MEI standard C function libraries (over 250 functions) The PCX/DSP combines a 40 MHz DSP with MEI's extensive C function libraries. Single-slot ISA card supports up to 8 axes Fast host communication across ISA bus Supports both servos and steppers The PCX/DSP motion controller uses a powerful Analog Devices 40 MHz DSP to provide up to 8 axes of servo or Up to 44 user I/O lines stepper control in a single ISA bus slot. Hardware fea- 16-bit servo output resolution tures include 16-bit servo outputs, encoder inputs to 5 MHz, 8 channels of 12-bit analog inputs, and up to 44 375 kHz step/direction output lines of user I/O. Point-to-point and coordinated motion You program the PCX/DSP using MEI’s flexible C func- tion libraries with over 250 motion control functions. MEI Supports Windows NT, Windows95, C libraries combine with compilers from Microsoft, Windows 3.X, DOS, VxWorks, Lynx/OS, Borland, Watcom, Symantec, and others to speed devel- pSOS, and QNX opment of complex motion applications. Flexible DSP architecture allows on-the- The PCX/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 PCX/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 PCX/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 set_move_speed(speed); These libraries en- sent from the host. Each frame is an array of 20 set_move_accel(accel); start_point_list(); able applications words that contain position, velocity, acceleration, move_2(x1,y1); move_2(x2,y2); developed on the jerk, I/O status, and trigger information. end_point_list(); PCX/DSP to run on With up to 600 frames stored on-board, the any MEI motion Sample coordinated motion routine PCX/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 PCX/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 the board's buffer status or the PCX/DSP sends multi-axis coordinated motion. Along with source an interrupt to the host. code, MEI provides hundreds of sample applica- Variety of Motion Profiles With a single C function, tions to help speed development. you can program independent or simultaneous Development Environment MEI controllers sup- point-to-point motion for up to eight axes (with port most popular compilers and operating sys- your choice of trapezoidal, parabolic, tems, including those with true multitasking. S-curve, or user-defined profiles). You can trigger I/O bits on-the-fly for specified positions, veloci- Operating Systems Compilers ties, or times. DOS Microsoft Visual C/C++ Windows 3.X Borland C/C++ Windows NT Watcom C/C++ Advanced Motion Features Windows95 Symantec C/C++ • electronic gearing & camming Lynx/OS Visual BASIC for Windows • coordinated motion with acceleration blend- ing, cubic splining, or circular interpolation VxWorks GNU • feed-speed override with pause-on-path QNX • tangential following and laser power control pSOS • position latching (under 4 microseconds) PID and Notch Filters The PCX/DSP uses a software • analog and encoder-based jogging PID control algorithm optimized for high perfor- • sinusoidal commutation mance. This PID algorithm delivers quick update • dual-loop control rates, stable operation, and easy tuning. An option- • multiple coordinate systems al post-PID • helical and linear interpolation while (! done) notch filter is { printf("Set SlavingRatio? ") ; • analog scale interpolation gets(buffer) ; available to done=scanf(buffer,"%lf",&ratio)!=1; • high-speed registration if (! done) eliminate me- { endlink (SLAVE); • direct data acquisition (A/D and D/A) chanical reso- set_position(3,0) ; set_position(1,0) ; nances in a link(3,1, ratio, ACTUAL) ; } closed-loop } system. Sample coordinated motion routine Hardware Features Position and Analog Feedback Up to eight encoder High Speed inputs accept position feedback at up to 5 MHz. Data Bus Encoder With MEI’s unique Encoder Integrity Checking Inputs Serial Data Servo (EIC) feature, on-board encoder inputs can de- 40 MHz 8 Outputs Analog DSP tect broken or shorted encoder wires, detect an (16-bit D/A) Inputs illegal state, and digitally filter serious noise. EIC Dedicated I/O ensures that problems with either the encoder or (6 lines/axis) Step/ 8 its wiring won’t result in a runaway condition. Direction DSP Outputs User I/O Memory (up to 44 lines) Hardware features PCX/DSP • 16-bit servo output resolution Hardware Architecture ISA • 32-bit or 48-bit accuracy in all kinematic Bus Interface functions (position, velocity, and acceleration) • no arcane proprietary command languages High-Performance DSP Architecture The PCX/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 PCX/DSP buffers commands from the host and stores mo- tion 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 3 Clock 0 4 Analog in 0 real-time requirements and enables fast host-to-DSP 5 -12 V 6 Analog in 1 communication across the ISA bus. Even complex 7 +12 V 8 Analog in 2 9 +5 V 10 Analog in 3 functions require virtually no CPU time once mo- 11 Gate 0 12 Analog in 4 tion 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 ISA bus at speeds up to 1.2 Mbytes/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 PCX/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 PCX/DSP IAQ 234567 PCX/DSP Specifications Processor User I/O (per board) • 2/4 axis models: 44 lines • Analog Devices, 40 MHz DSP 6/8 axis models: 24 lines Computer Interface • TTL compatible, 4.0 mA drive • ISA Compatible • Direct access from host CPU • Switch-selectable address, I/O mapped Analog Inputs (per board) • Binary communication to1.2 • 8 channels, 12-bit A/D Mbytes/sec • Configurable for 4-channel differen- • Host CPU interrupts tial mode • 75 kHz sampling rate Corporate Headquarters Software Development Tools • Unipolar (0-5V) or bipolar (± 2.5V) 33 South La Patera Lane • MEI standard C function libraries • Direct access from host processor Santa Barbara (over 250 functions) California 93117-3214 • Compilers: Microsoft, Borland, Kinematic Ranges ph (805) 681-3300 Watcom, Symantec, GNU • Position: 32-bit (±2.15 billion counts) fax (805) 681-3311 • Operating system support: Windows • Velocity: 48-bit (±65 million NT, Windows95, Windows 3.X, DOS, counts/sec at 2 kHz sampling) Eastern Regional Office VxWorks, Lynx/OS, pSOS and QNX • Acceleration: 48-bit (±131 billion Boston, Massachusetts 2 counts/sec at 2 kHz sampling) Servo Loop Update Rate ph (508) 264-0051 3 • Jerk: 48-bit (262 trillion counts/sec • User-programmable rate fax (508) 264-0057 at 2 kHz sampling) • Maximum: 10 kHz (1 axis), 3.0 kHz (4 axes), 1.6 kHz (8 axes) Motion Control Features Midwestern Regional Office • Default: 1.25 kHz • Point-to-point motion Chicago, Illinois • Coordinated motion ph (773) 631-4992 Servo Output • Cubic spline motion fax (773) 631-4936 • ±10V DC at 16-bit resolution • Electronic gearing and camming • ±18 mA current Japan Regional Office • Feed speed override • 100 ppm long-term velocity accuracy • Dual-loop control Tokyo, Japan Step Output • High inertia compensation ph 03-5229-7007 • High-speed registration • Pulse rate ranges (16-bit resolution): fax 03-3235-5655 0 to 375 kHz • Tangential following* Electronic Communications 0 to 93.75 kHz • Laser power* web: www.motioneng.com 0 to 23 kHz • Sinusoidal commutation* e-mail: info@motioneng.com • RS-422 line driver outputs • Sinusoidal encoder interpolation* • ±20 mA current Motion Profiles • Step/direction or clock up/clock • Trapezoidal profile down* • S-curve profile 55 • Pulse width: 50% duty cycle • Parabolic profile YEAR YEAR Position Feedback • Custom (user-defined) WARRANTY WARRANTY • Incremental encoder: 5 MHz, Power Requirements single-ended or differential • +5 V Icc = 0.9 A max Motion Engineering is represented by: • RS-422 line receivers/digital filtering • +12V Icc = 10 mA max • Analog position feedback • -12V Icc = 20 mA max • Encoder checking: broken wire and Environmental Conditions illegal state detection • Operating temperature: 0-50 degrees C • Temposonics support: direct connection* • Humidity: 20-95% RH, non-condensing Dedicated I/O (per axis) Construction • TTL compatible, 4.0 mA drive • Full SMT; 4-layer PCB All trademarks are the property of respective owners. • 100% bed of nails and fully function- • Inputs: positive and negative limits, All specifications are subject to change without notice. ally tested with 24-hour burn-in home, amp-fault (SCR clamp protected) M001-0015 Rev. 7/97 • UL and CE compliant *Optional at no cost in volume • Outputs: in-position, amp-enable