PC78Intelligent Motion Controller forPC/104 or RS-232 FEATURES Controller capabilities * Four axes of stepper control with encoder feedback or servo * Encoder feedback to 12MHz Communications * PC/104 bus * Stand-alone with RS-232 port * Interrupt or polling communication * 4 I/O registers for control & status Sophisticated Control Functionality * 16 bit DAC analog resolution * Independent and coordinated motion of all axes at the same time * Slip & Stall detection with encoder feedback * Crystal controlled step pulse from 0 to 1,044,000 steps per second * Circular interpolation * Constant velocity linear interpolation (all axes) * Electronic gearing 32 bit Processor for Extensive Co-Processing * Does not burden the host with overhead * Custom, parabolic, cosine, linear trajectory profiles * Patented technology to minimize torque ripple and velocity modulation * Internal watchdog timer for safety Control signals * Single high density shielded SCSI3 connector * Up to 12 user I/O * Motion Control Output is +/-10V or 0-10V Servo or Step & Direction * Dedicated home and plus / minus over-travel inputs for each axis OMS - EZ™ Software programming * High level programming expertise not required * Over 150 commands, "universal” to all Pro-Dex, Inc. controllers * Commands are ASCII characters * Capable of conversion to "user” defined units i.e. inches / revolutions * Software for WIN95/98, NT, 200 and XP. * Software supplied at no additional cost Flash Memory * Field upgradeable firmware within Windows operating systems * Non-volatile program storage and parameter storage Flexible and Expandable * Conforms 100% to all PC/104 specifications * Customizable solutions available for your requirements Factory Direct Technical Support * Person to person toll-free tech support: call 800-707-8111 * Application notes and Documentation on the Web * Example programs and application code provided * All Pro-Dex, Inc. controls are 100% tested and quality inspected Beaverton, Oregon

DESCRIPTION The PC78 is both a PC/104 controller that supports the PC/104 ISA bus standard as well as a stand-alone controller via a RS-232 communication port and is compatible with the PC68 family with 2-4 axes control. The PC78 supports up to 12 general purpose TTL I/O bits, 8 of which are user definable. The step pulse is a TTL level 50% duty cycle square wave that supports velocities of 0 through 1,044,000 pulses per second. The encoder feedback functionality supports quadrature encoders up to 12 MHz at a 4 times the encoder line resolution and is used as closed-loop feedback for the stepper...

The LF command turns off the limit switches for the addressed axis. This allows the stage to move beyond the limit switch and should be used with caution. LH LIMIT HIGH The LH command sets the logic sense of the overtravel limit inputs to active high. LL LIMIT LOW The LL command sets the logic sense of the overtravel limit inputs to active low. LN LIMITS ON The LN command restores the operation of the limit switches for the addressed axis. PF PARABOLIC OFF The PF command restores linear acceleration and deceleration ramps. PN# PARABOLIC ON The PN command enables parabolic ramps. The parameter...

The SA command flushes all queues and causes all axes to decelerate to a stop at the rate previously specified in an AC command. SD STOP AND RESET DONE The SD command will stop all axes and clear any done flags. ST STOP The ST command flushes the queue for the currently addressed axis only and causes the axis to decelerate to a stop at the rate previously specified in an AC command. LOOP CONTROL COMMANDS These commands allow move sequences to be repeated within loops. Loops can be nested up to four levels deep on each axis. LE LOOP END The LE command terminates the most recent LS command. LS#...

SYSTEM STATUS REQUEST COMMANDS These commands allow the host to request the status of various move parameters, including the status of limit and home switches. QA QUERY AXIS The QA command returns the status of the single addressed axis like the RA command, except the status register and flags are not affected. QI QUERY INTERRUPT STATUS The QI command returns the status of all axes like the RI command, except the status register and flags are not affected. RA REPORT AXIS INTERRUPT STATUS The RA command returns the state of the limit and home switches, and the done and direction flags...

CE CONTOUR END The CE command ends the definition of the contour sequence, i.e. terminate the CD mode or ramp to a stop and exit when the contour is executed. CK CONTOUR END AND KILL The CK command ends the definition of the contour sequence and stops output generation immediately when executed. CR#,#,# CIRCULAR INTERPOLATION The CR command causes the axes defined by the CD command to move in a circular pattern from the entry position. The parameters specify the center of the circle and distance to travel in radians. The CR command is only valid with contours of 2 axes. CV# CONTOUR VELOCITY The...

The RL command returns the slip detection status of each axis. An S is returned if slip has occurred for that axis, or else an N is returned. The following command controls the tracking mode of the controls. ET ENCODER TRACKING The ET command turns on tracking mode. The axis will track its encoder input, allowing one axis to be manually positioned by any device that produces a signal compatible to the encoder inputs. The following commands control the home sequence when used with an encoder. EA ENCODER STATUS The EA command returns the encoder status of the currently addressed axis. HE HOME...

The following demonstrates cutting a hole with a 10,000 count radius using constant velocity contouring and circular interpolation: The contouring velocity is set to 1000 counts per second. A contour is defined beginning at coordinates 0,0 on the Z and T axes. Auxiliary output on the X axis is turned on, which could turn on the cutting torch or laser starting the cut at the center of the circle. A half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the hole. The hole is then cut, the torch turned off, the stage stopped and the contour definition...