Motion System

AMD 486DX5 32 bit Processor running at 128 MHz 4, 8, 12, ot 16 axes per card Servo or stepper on per-axis basis Multiple independent coordinated groups Trapezoidal or custom profile shapes at application level 32 bit position management Sample rates from 1 kHz to 4 kHz across all 16 axes Linear, circular, curve interpolation Electronic gearing with phase adjust Electronic camming Tangent servo Master/slave coordination High speed registration Kinematics Motion superposition Coordination tailoring

Servo Specifications

Gain-Zero-Integrator filter or PID control law at application level Friction, velocity, accel feed forward available 4 MHz encoder count rate when running 4 axes, 1 MHz encoder count rate when running 16 axes Differential receivers for A, B, Index, and Capture channels 3 bit digital filters on A, B, Index and Capture channels Hardware position latch Hardware position compare +/- 10 volt amplifier signal, 12 bits Open collector low and high enable signals

Stepper Specifications

2 MHz step rate when running 4 axes, 500 kHz step rate when running 16 axes Quadrature encoder position verification Open collector step and direction signals Open collector low and high enable signals

Safety

Dual analog and digital watchdog systems E-Stop hardware amp disable Servo error limit detection Application level safety interlock tasks

User I/O

48 points of configurable I/O Inputs or outputs configured in 4 bit groups Expansion bus connector for auxilliary hardware

Interconnect

Motion signals on (4) 60 pin ribbon cables Ribbon cables can be split into (4) identical 15 pin axis cables User I/O through 50 pin cable which is Opto-22 rack compatible Expansion bus through 26 pin header

Douloi Pascal Language System

Object based compiled pascal Compiler produces 32 bit 486 object code Compiler operates under Windows Execution occurs on Motion Server Hard real-time extensions include 12 sample rate threads, BeginTask, ScheduleTask, PauseTask, ResumeTask, AbortTask Predefined types include booleans, integers, longints, single precision float, double precision float, null terminated strings, vectors of dimension 2 through 6, axis groups of dimension 2 through 6 Organizational constructs include procedures and functions, pass-by-reference parameters, pass-by-value parameters, symbol scoping, user defined arrays, user defined record types, user defined object types Control constructs include if <expression> then ..., if <expression> then ... else ..., for <var> := <expression> to <expression> do ..., while <expression> do ..., repeat ... until <expression> , try ... recover ... style exception handling

Servo Application Workbench

Visual development environment Performs Windows services for Motion Server tasks TText - display object TEdit - editor object TButton - button object TFile - File object TListBox - list/combo box object TPlate - graphics canvas Graphic elements include bitmaps, circles, rectangles, lines polylines, text, raised surface graphics

Subassembly Catalogs

Predfined software components Joysticks Keypads Password dialogs Thumbwheels Thermometer controls Displays Homing routines Math path Serial communciation (with DMS-AUX accessory)

Motion Server Description...

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