| Millennium Series
Motion Controllers with Phase Commutation for Brushless Servomotors
for ISA-bus
Model
3m-0x-BL
 The
Millennium brushless type multi-axis motion controllers model 3m-0x-BL
implement the Navigator MC23xx series chipsets - dedicated motion
processors from PMD. These controllers 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 1, 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 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 1,
2 or 4 axes configuration
- Supports 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)
- Commutation rate 10 kHz for 4 axes or 20 kHz for 1 and 2 axes
+/-10V 16-bit DAC output signal
- PWM motor output signal of 10-bit resolution at 20 kHz (1 or
2 axes) or 10-bit resolution at 10 kHz (4 axes) - 50/50 PWM mode
supports 2 or 3 phase motors, Sign/Magnitude PWM mode supports 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 @ 40mA
return to top
download
data sheet
|