Millennium Series
Motion Controllers for Brush and Brushless Servomotors for ISA-bus
Model 3m-0x-B/BL
The
Millennium controllers - model 3m-0x-B/BL combine the ability to control
both brush and brushless servomotors with on-board phase commutation
. The user can designate which axes are brush and which are brushless.
These type multi-axis motion controllers implement the Navigator MC28xx
series chipsets - dedicated motion processors from PMD. They harness
the power of the Navigator high-speed DSP chip and incorporate ASIC
and surface mount technologies. They can install directly into a PC
AT slot (ISA bus compatible) or can work standalone communicating via
a serial link.The Millennium controllers are available in configurations
of 2 or 4 axes.
The DSP unit provides S-curve, trapezoidal,
velocity contouring and electronic gearing profiling modes for Analog
or PWM signal output. Onboard memory allows designers to capture on-the-fly
motion data for analyzing system performance, tuning servo filters and
diagnostic purposes. Motion trajectory segments can be blended into
continuous motion path in the velocity mode.
The boards interface to external components
via a 100 pin high density connector providing motor outputs and reading
pulsed encoder (incremental or absolute), limit switches and home indicator
input signals. They are capable of handling eight analog inputs and
eight user-defined discrete I/Os.
The cards are supported by C-MotionPlus™
and CyberMotion™ - extensive C-language
software libraries and Windows and Linux drivers, which allow development
of any motion'control application. EasyMotion™,
a GUI application package with the industry's first ever MotionWizard,
assists in a quick and easy way to set up and tune even complex electro-mechanical
systems.
The boards can be used in a variety of
industries, such as robotic, machine tool, semiconductor, medical, food
processing, textile and many others.
Features
- Uses DSP and ASIC high speed dedicated motion processors in 2 or
4 axes configuration
- Supports single phase brush and 2 or 3- phase brushless motors
- 6-step (Hall based) or sinusoidal commutation of brushless motors
only
- Independent or synchronous axes programming
- Open or closed servo loop operating modes
- Advanced PID filter with velocity and acceleration feedforward,
bias offset and 32-bit position error
- Axis settled indicator and tracking window in addition to automatic
motion error detection
- Choice of S-curve, trapezoidal, velocity contouring or electronic
gearing motion profiles
- Asymmetric acceleration and deceleration to custom program a trapezoidal
motion profile
- Velocity and acceleration changes on-the-fly for trapezoidal and
velocity contouring profiles
- Position range from -2,147,483,648 to +2,147,483,647
counts
- Velocity range from -32,768 to +32,767 counts/sample
with a resolution of 1/65,536 counts/sample
- Acceleration and deceleration range from -32,768
to 32,767 counts/sample^2 with a resolution of 1/65,536 counts/sample^2
- Jerk range from 0 to 1/2 counts/sample^3 with
a resolution of 1/4,294,967,296 counts/sample^3
- Electronic gear ratio range from -32,768 to
32,767 (negative and positive direction)
- Programmable sample rate from 150 µsec to 3355 msec per axis
- Single-ended or differential incremental encoder
maximum rate up to 5.0 Mcounts/sec
- Maximum parallel feedback device rate up to 160.0 Mcounts/sec
- Parallel feedback device word size: 16 bits
- 3 Hall effect input signals per axis (TTL level) for brushless
motors only
- Commutation rate 10 kHz for 4 axes or 20 kHz for 2 axes
- +/-10V 16-bit DAC output signal
- PWM motor output signal of 10-bit resolution at 20 kHz - 50/50
PWM mode supports 1, 2 or 3 phase motors, Sign/Magnitude PWM mode
supports 1 or 2 phase motors only
- On-board 256 kByte memory buffer for data and parameters storage
- Parallel or serial communication interface
- Two-directional travel limit switches, home indicator and fault
input per axis
- Automatic motor shutdown on motor stall detection
- 8 general purpose 10-bit analog inputs in range of 0 to 5.0 V DC
- 8 general purpose discrete TTL level input lines expandable to 256
inputs
- 8 general purpose discrete TTL level output lines expandable 128
outputs
- Programmable host interrupts
- Trace capabilities for system performance testing, servo-filter
tuning and diagnostic purposes
- CyberMotion library functions support
coordinated linear and circular interpolation, point-to-point positioning
and contouring, backlash compensation, jogging, homing, etc.
- Status reporting for position, speed and errors
- Infinite number of linear and arc segments for smooth motion
- Programmable event triggers for monitoring elapsed time, motion
complete, position, motion error, limit switches and position wrap-around
Operating temperature
Dimensions
- 4.8" wide x 10.0" long (122mm x 254mm)
Maximum power requirements
- +5V@ 500mA
- -12V @ 40mA
- +12V @ 40m
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