PCIx Specifications - Pro-Dex, Oregon Micro Systems - #5

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GENERAL DESCRIPTION INTRODUCTION PCIx User’s Manual 1-1 1. GENERAL DESCRIPTION 1.1. INTRODUCTION The Pro-Dex, Inc.,Oregon Micro Systems’ PCIx family of PCI products comply with the PCI Local Bus specification (revision 2.2) for a "short-card". The PCIx controller can manage up to four axes of stepper or servo motion control while incorporating other signals; i.e. limits, sensors, I/O, etc. into the system. It can manage coordinated or independent motion of each or all of the axes simultaneously. With high level functionality, such as circular and linear interpolation, multitasking, custom profiling, etc., the PCIx can satisfy most any motion control application. See Appendix C Specifications for specific PCIx Family Models. The PCIx communicates as a slave only device and functions as a motion coprocessor. It utilizes a 32-bit microprocessor and patented, proprietary technology to control the trajectory profile, acceleration, velocity, deceleration and direction of selected axes. In response to commands from the host computer, the PCIx controller will calculate the optimum velocity profile to reach the desired destination in the minimum time while conforming to the programmed acceleration and velocity parameters. In addition the PCIx can provide motion control information such as axis position, the state of overtravel limits and Done interrupts. The stepper control of the PCIx produces a 50% duty cycle square wave step pulse at velocities of 0 to 1,044,000 pulses per second and an acceleration of 0 to 8,000,000 pulses per second, per second. The servo control utilizes a 16-bit DAC and outputs either +/- 10V or 0 to +10V. The encoder feedback control can be used as feedback for the servo PID, position maintenance for the stepper axes or as strictly a position feedback of any axes. The encoder input supports either differential or single ended quadrature TTL signals at a rate of up to 4MHz and counts at a 4 times resolution. This means a 1000 line encoder will produce 4000 counts per revolution in the PCIx controller. The PCIx command set employs an ASCII character syntax. Using virtually any programming language, simple ASCII command strings are sent to the PCIx through the PCI bus. A typical motion requirement of 1,000,000 counts at 400,000 counts/sec and an acceleration of 500,000 counts/sec/sec the following string would be sent from the host computer to the PCIx: VL400000; AC500000; MR1000000; GO; For additional command programming examples see Section 5 Command Structure 1.2. SYSTEM OVERVIEW The PCIx is physically a standard PCI module with plug and play capability. The PCIx communication interface is accessed through the bus. The PCIx utilizes the Motorola 68332 32-bit microcontroller and FPGA technology for extensive logic integration and flexibility. The firmware, which resides in Flash Memory, can be upgraded through the communication interface without having to remove the controller from the system. All input signals to the PCIx are buffered through differential or opto-coupled components and are located on connector J2. The PCIx utilizes the +5VDC supplied by the Host computer through the PCI bus for the logic control and the servo models utilize the additional +/- 12V supply for the analog control.