Millennium Series Motion Controllers for Stepper Motors for PCI-bus

Model 3mi-0x-S
The PCI-bus cards of the Millennium series are high performance feature-rich multi axis motion controllers. The 3mi-0x-S model implements the Navigator MC25xx series chipsets - dedicated motion processors from PMD to control stepper motors. 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 Pulse and Direction signal output. Onboard memory allows designers to capture on-the-fly motion data for analyzing system performance 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) for on-the-fly motor stall detection, 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.


  • Uses DSP and ASIC high speed dedicated motion processors in 1, 2 or 4 axes configuration
  • Independent or synchronous axes programming
  • Open loop or stall detection with encoder feedback operating modes
  • 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 100 µsec to 3355 msec per axis
  • Single-ended or differential incremental encoder maximum rate up to 5.0 Mcounts/sec
  • Maximum parallel encoder rate up to 160.0 Mcounts/sec
  • Parallel encoder word size: 16 bits
  • Parallel encoder read rate: 20 kHz (every 50 msec)
  • Pulse and direction motor output up to 4.98 M-pulses/sec
  • 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
  • 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 motion error
  • 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

  • 0° to +70°C


  • 4.8" wide x 10.0" long (122mm x 254mm)

Maximum power requirements

  • +5V @ 500mA

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