Millennium
Series Motion Controllers for Brush and Brushless Servomotors for PCI-bus
Model
3mi-0x-B/BL
The PCI-bus cards of the Millennium series are high
performance feature-rich multi axis motion controllers. The 3mi-0x-B/BL
model implements the Navigator MC28xx series chipsets - dedicated motion
processors from PMD. It combines 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 controllers
harness the power of the Navigator high-speed DSP chip and incorporate
ASIC and surface mount technologies. 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 64 kByte dual-port memory buffer for
data and parameters storage
- PCI-bus communication interface
- Opto-isolated dedicated outputs for amplifier
enable signals
- Opto-isolated dedicated inputs for two-directional
travel limit switches, home indicator and fault signal operating at
+5V, +12V, +24V or +48V
- 8 general purpose discrete TTL level input
lines expandable to 256 inputs
- 8 uncommitted discrete output lines operating
at TTL level, expandable to 128 outputs or opto-isolated capable of
sinking or sourcing maximum 350 mA at 50V
- 8 general purpose 10-bit analog inputs in range
of 0 to 5.0 V DC
- Automatic motor shutdown on motor stall detection
- 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 8.25" long (100mm x 209mm)
Maximum power requirements
- +5V @ 500mA
- -12V @ 40mA
- +12V @ 40mA
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