PCIx
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PCIx Intelligent Motion Controller for PCI FEATURES • Communication Interface  PCI 33 MHz Target Device  4 I/O registers for control & status  Requires only one PCI Slot Control signals  Control signals are opto-isolated for noise immunity  Opto-isolated I/O  All control signals on the shielded SCSI connector  Motion Output is Servo (+/-10V or 0-10V) or Step & Direction  Independent home, positive and negative overtravel inputs Sophisticated Control Functionality  16 bit DAC analog resolution  Independent and coordinated motion of all axes simultaneously  Slip & Stall detection with encoder feedback  Crystal controlled step pulse from 0 to 1,044,000 steps per second  Configurable PID filter with feedforward coefficients  Circular Interpolation  Constant velocity linear interpolation (all axes)  Electronic Gearing Software programming  High level programming expertise not required  Over 150 commands, “universal” to other OMS controllers  Commands are ASCII characters  Automatic conversion to “user” defined units i.e. inches / revolutions  Software for Win NT or Win 95 at no additional cost Flash Memory  Field upgradable firmware  Removal of the board for upgrade not required  Non-volatile program storage Factory Direct Technical Support  Person to person toll-free tech support, call 800-707-8111  Example programs and application code provided  Firmware upgrades and enhancements can be implemented in the field  Customizable solutions available for your requirements  All OMS controls are 100% burned-in, tested and quality inspected Controller capabilities  Two or Four axes of Servo, Stepper or Servo and Stepper control  Half Size PCI Short Card Dimensions  Single high density shielded SCSI connector  PCI Rev. 2.2 Compliant 32 bit processor for extensive co-processing  Does not burden the host with overhead  Custom, Parabolic, “S”-curve & Linear trajectory profiles  Patented technology to minimized torque ripple and velocity modulation  Internal Watchdog timer for safety

DESCRIPTION The PCIx is a PCI4™ motion controller that conforms to the PCI Rev. 2.2 specification. The PCIx is up to a four-axis controller for either servo or stepping motors. It supports 12 general purpose bits which are opto-isolated for optimum noise immunity. The home and overtravel inputs are opto-isolated. The architecture of the PCIx includes a dual-port Ram for special functions where fast collection of large amounts of data is required, such as profile capture. The servo output is a +/- 10V or 0-10V signal that is driven by a 16 bit DAC. The servo control loop is a PID filter with...

The SL command changes the operation of the limit inputs causing the output pulse train to ramp down instead of terminating immediately. The output queue is not flushed except for the current move. SF SOFT LIMIT OFF The SF command restores the normal operation of the limit switches. CN COSINE ON The CN command enables cosine velocity ramps i.e. half sinusoid acceleration profiles for all axes. PN# PARABOLIC ON The PN command enables parabolic ramps. The parameter selects the point of truncation. PF PARABOLIC OFF The PF command restores linear acceleration and deceleration ramps. BI BIPOLAR...

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. LS# LOOP START The LS command sets the loop counter for the axis being programmed. The parameter specifies the number of times the loop will be executed. Loops may be nested up to 4 levels deep. LE LOOP END The LE command terminates the most recent LS command. The following commands can be used to synchronize multiple PCIx boards or synchronize them to external events. WS# WHILE SYNC TRUE The WS command will execute the commands between the WS and...

RA RETURN AXIS INTERRUPT STATUS The RA command returns the state of the limit and home switches, and the done and direction flags for the currently addressed axis. The done flag is reset. RI RETURN INTERRUPT STATUS The RI command returns the state of the limit and home switches, and the done and direction flags for all axes. The done flags are reset. 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...

The CX command causes the PCIx controller to execute the previously defined contour sequence. MT#,# MOVE TO The MT command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation at constant velocity. RQ REQUEST QUEUE STATUS The RQ command returns the number of entries available in the contouring queue. PID FILTER CONTROL COMMANDS The following commands set the PID filter parameters KP# PROPORTIONAL GAIN COEFFICIENT The KP command sets the proportional gain coefficient on servo axes. KI# INTEGRAL GAIN COEFFICIENT The KI command sets...

The following commands control the home sequence when used with an encoder. HE HOME ENCODER The HE command enables the encoder index mode, i.e. home is defined as the logical AND of the encoder index, the external home enable and the encoder quadrant. HS HOME SWITCH The HS command enables non-encoder (switch only) home mode. The following commands return status information about the encoder to the host. EA ENCODER STATUS The EA command returns the encoder status of the currently addressed axis. RE REQUEST ENCODER POSITION The RE command returns the current encoder position of the currently...

Velocity 0 to 1,044,000 counts per second simultaneous on each axis Acceleration 0 to 8,000,000 counts per second per second Position range 67,000,000 counts (±33,500,000) Accuracy Position accuracy and repeatability ±0 counts for point to point moves Velocity accuracy ±0.01% for step pulse output Home switch inputs Opto-isolated TTL input levels (Opto, max 50mA). Input sense (low or high true) selectable by command input for each axis. User definable I/O Up to 12 bits of user definable I/O. All bits are optoisolated. Up to 4 are fixed as outputs. 8 bits are user configurable that are...