Millennium
Series Motion Controllers with Phase Commutation for Brushless Servomotors
for PCI-bus
Model
3mi-0x-BL
The PCI-bus cards of the Millennium series are high performance feature-rich
multi axis motion controllers. The 3mi-0x-BL model implements the Navigator
MC23xx series chipsets - dedicated motion processors from PMD to control
brushless servo motors with on-board phase commutation. 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 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 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 1,
2 or 4 axes configuration
- Supports 2 or 3-phase brushless motors
- 6-step (Hall based) or sinusoidal commutation
- 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 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 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 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
- 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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