DSP VME Analog C-programmable Motion Controller VME/DSP C-programmable using MEI standard C function libraries (over 250 functions) Single-slot VME card supports 2, 4, 6, or 8 The VME/DSP combines MEI's axes extensive C function libraries with DSP-based architecture for the industrial VME bus. Fast host communication across VME bus at 1.2 MB/sec The VME/DSP motion controller uses a powerful Analog Supports both servos and steppers 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 VME bus slot. Hardware fea- tures include 16-bit servo outputs, encoder inputs to 5 16-bit servo output resolution MHz, 8 channels of 12-bit analog inputs, and up to 44 lines of user I/O. 375 kHz step/direction output You program the VME/DSP using MEI's flexible C func- Point-to-point and coordinated motion tion libraries, with over 250 motion control functions. MEI C libraries combine with compilers from Microsoft, Supports DOS, Windows 3.X, Windows NT, Borland, Watcom, Symantec, and others to speed devel- Windows95, Lynx/OS, VxWorks, QNX, VRTX, and OS/9 opment of complex motion applications. The VME/DSP provides a rich set of software algorithms, Flexible DSP architecture allows on-the- 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 VME/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 VME/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(); VME/DSP to run on With up to 600 frames stored on-board, the any MEI motion Sample coordinated motion routine VME/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 VME/DSP executes them. you can use to create motion control programs 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 VME/ 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 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- ing, cubic splining, or circular interpolation PID and Notch Filters The VME/DSP uses a software • feed-speed override with pause-on-path PID control algorithm optimized for high perfor- 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 • analog and encoder-based jogging while (! done) notch filter is • sinusoidal commutation { printf("Set SlavingRatio? ") ; available to gets(buffer) ; • 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) ; • analog scale interpolation } 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 de- (16-bit D/A) Processor 12-bit Analog Inputs tect broken or shorted encoder wires, detect an Data Bus illegal state, and digitally filter serious noise. EIC Step/ Up to 44 lines Direction User I/O ensures that problems with either the encoder or Memory Output its wiring won’t result in a runaway condition. 6 lines/axis Dedicated I/O Hardware features VME/DSP Hardware Architecture • 16-bit servo output resolution VME 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 VME/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 VME/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 GND 2 5V This efficient division of labor frees the host from 3 Encoder A+ 4 Encoder A- 5 Encoder B+ 6 Encoder B- real-time requirements and enables fast host-to-DSP 7 Encoder Index + 8 Encoder Index - communication across the VME bus. Even complex 9 ±10 V Analog Out 10 Step Pulse + * 11 Step Pulse - * 12 Direction + * functions require virtually no CPU time once mo- 13 Direction - * * Clock up/down optional tion starts. Fast Communications The host compiles C func- tions and transmits them as binary strings across the VME 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); Analog Input/Counter-Timer Pin-outs set_feedback(rotary,ENCODER); the real-time control set_dual_loop(linear,rotary,TRUE); Pin Signal Pin Signal loop calculations of 1 GND 2 GND Sample dual-loop control routine 3 Clock 0 4 Analog In 0 the DSP. 5 -12V 6 Analog In 1 7 +12V 8 Analog In 2 Fast bus communications also allow the VME/DSP 9 +5V 10 Analog In 3 11 Gate 0 12 Analog In 4 to take full advantage of ever-expanding host CPU 13 Out 0 14 Analog In 5 15 Out 1 16 Analog In 6 performance by leveraging the multitasking capa- 17 Out 2 18 Analog In 7 bilities of the newest operating systems. 19 GND 20 GND IAQ 234567 VME/DSP VME/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 • VME compatible: A16, D16/D08 (EO) • Direct access from host CPU DTB slave interrupter I(1) - I(7) RORA, vector D08 (0) Analog Inputs (per board) • 8 or 16 bit data transfers • 8 channels, 12-bit A/D • Switch-selectable address • Configurable for 4-channel differen- 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, Watcom, Symantec, GNU Kinematic Ranges • Operating system support: DOS, • Position: 32-bit (±2.15 billion counts) Windows 3.X, Windows NT, Win- • Velocity: 48-bit (±65 million dows95, Lynx/OS, VxWorks, QNX, counts/sec at 2 kHz sampling) VRTX, OS/9 Corporate Headquarters • Acceleration: 32-bit (±131 billion 2 33 South La Patera Lane counts/sec at 2 kHz sampling) Servo Loop Update Rate 3 Santa Barbara • Jerk: 48-bit (262 trillion counts/sec • User-programmable rate at 2 kHz sampling) California 93117-3214 • Maximum: 10 kHz (1 axis), ph (805) 681-3300 3.0 kHz (4 axes), 1.6 kHz (8 axes) Motion Control Features fax (805) 681-3311 • Default: 1.25 kHz • Point-to-point motion e-mail info@motioneng.com • Coordinated motion Servo Output • Cubic spline motion • ±10V DC at 16-bit resolution Eastern Regional Office • Electronic gearing and camming • ±18 mA current Boston, Massachusetts • Feed speed override • 100 ppm long-term velocity accuracy ph (508) 264-0051 • Dual-loop control fax (508) 264-0057 Step Output • High inertia compensation • Pulse rate ranges (16-bit resolution): • High-speed registration Midwestern Regional Office 0 to 375 kHz • Tangential following* Chicago, Illinois 0 to 93.75 kHz • Laser power* ph (312) 631-4992 0 to 23 kHz • Sinusoidal commutation* fax (312) 631-4936 • RS-422 line driver outputs • Sinusoidal encoder interpolation* • ±20 mA current Japan Regional Office • Step/direction or clock up/clock Motion Profiles Tokyo, Japan down* • Trapezoidal profile ph 03-5229-7007 • Pulse width: 50% duty cycle • S-curve profile fax 03-3235-5655 • Parabolic profile Position Feedback • Custom (user-defined) • Incremental encoder: 5 MHz, Motion Engineering is represented by: single-ended or differential Power Requirements • RS-422 line receivers/digital filtering • +5 V Icc = 0.9 A max • Analog position feedback • +12V Icc = 10 mA max • Encoder checking: broken wire and • -12V Icc = 20 mA max illegal state detection Environmental Conditions • Temposonics support: direct • Operating temperature: 0-50 degrees C 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. • Inputs: positive and negative limits, • 100% bed of nails and fully function- All specifications are subject to change without notice. home, amp-fault (SCR clamp protected) ally tested with 24-hour burn-in M001-0021 Rev. 6/96 *Optional at no cost in volume • Outputs: in-position, amp-enable • UL and CE compliant