PDF datasheet, specs - Meilhaus Electronic
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1. 2 KD6 HN VL5000 5000 5000 AC50000 50000 50000 MT1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position Beaverton Oregon UMX SPECIFICATIONS 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 Environmental Operating temperature range 0 to 50 C Storage temperature range 20 to 85 C Humidity 0 to 90 non condensing Power 5VDC 1 A typical 12 0 2 A typical Dimensions 3 25 x 3 55 x 0 5 inches Communication USB 2 0 software drivers included Limit switch inputs TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis Home switch inputs TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis User definable I O 12 bits of user definable I O 8 bits are user configurable as inputs or outputs One auxiliary2. AZ KP2 KD6 HN AM VL5000 5000 5000 AC50000 50000 50000 MA1000 2000 3000 GO ID he controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position Beaverton Oregon MAXnet w DBnet SPECIFICATIONS Velocity 0 to 4 194 176 pulses per second simultaneous on each axis Acceleration 0 to 8 000 000 pulses per second per second Position range 2 147 487 647 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5VDC 5 at 1 5 amp typical 12VDC at 0 2 amp typical 5 12VDC at 0 2 amp typical 5 Dimensions 4 x 6 5 x 1 67 Limit switch inputs TTL input signals Active low or high selectable by command input for each axis active low is default Connector Two shielded 100 Pin SCSI type connectors for all signals motor control I O Limits etc Breakout board available for ease of cabling Home switch inputs TTL input signals Active low or high selectable by command input for each axis active low is default User definable Up to 16 bits of user definable digital I O The 16 bits are user configurable and are configured as 4 inputs
3. Produkt Datenblatt tech Daten OMS bile tee oe poA SE tmt c a Kontakt FERRARIS 4 RN NUNT X I HH HH Niky Dae I 2 9 Technischer und kaufmannischer Vertrieb Preis ausk nfte Angebote Test Gerate Beratung vor Ort Tel 0 89 89 01 66 0 FAX 0 89 89 01 66 77 Aus dem Ausland 49 89 89 01 66 0 FAX 49 89 89 01 66 77 95137949 333333242 E Mail sales meilhaus com lIFEPrp ex 03 F EN EN Accelerating Possibilities www meilhaus com pro dex OREGON MICRO SYSTEMS P Web Kontakt Formular www meilhaus com kontakt Per Post Meilhaus Electronic GmbH FischerstraBe 2 D 82178 Puchheim ilh www meilhaus com Erw hnte Firmen und Produktnamen sind zum Teil einge tragene Warenzeichen der jeweiligen Hersteller Preise in Euro zzgl gesetzl MwSt Irrtum und Anderung vorbe M EI LH AU S halten _ 2010 Meilhaus Electronic bzw Icron ELECTRONIC MAXnet Pg 1 lim 1 Accelerating Possibilities OREGON MICRO SYSTEMS MAXnet Ethernet 5 Axis Motion Controller FEATURES Ethernet or RS232 Communications e Ethernet utilizes standard TCP IP protocol RS232 Baud rate 9600 to 115 2K PID update rate of 122 us on all 5 axes Deli
4. An axis may be skipped by entering the comma with no parameter The command may be prematurely terminated with a i e a move requiring only the X and Y axes would use the command MRx y followed by the GO command Each axis programmed to move will start together upon executing the GO command The UMX can be switched back to the unsynchronized mode by entering the desired axis command such as AX user manual has all commands listed and should be used to program the Motion Controller PRO DEX OREGON MICRO SYSTEMS PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage then move to a specified position the following will demonstrate the programming Initialize the velocity and acceleration parameters to a low value suitable for homing Set a PID filter proportional gain of 2 and a derivative gain of 6 Perform the home operation initializing the position counter to zero Initialize the velocity and acceleration parameters to perform a faster motion and move to an absolute position of 10 000 counts from home in the positive direction and set the done flag when finished The following would be input from the host computer AX VL 1000 AC10000 KP2 KD6 HN HMO VL5000 AC50000 10000 ID In a move requiring a three axis coordinated move to a position in free space the following could be used AX 2 KD6 HN AY KP2 KD6 HN AZ
5. RS232 Ethernet 9 Pin RJ45 Ordering Information eons No of Axes AN Accelerating Possibilities ct MAXnet 2000 MAXnet 3000 MAXnet 4000 MAXnet 5000 ACCESSORIES IOMAXnet Breakout Board for MAXnet CBL58 3M I O cable for MAXnet to IOvMAX meters 3701 1800000 Revision B Pro Dex Oregon Micro Systems Beaverton Oregon MAXnet w DBnet Pg 1 lim 1 Accelerating Possibilities OREGON MICRO SYSTEMS MAXnet w DBnet Ethernet 10 Axis Motion Controller FEATURES Ethernet or RS232 Communications e Ethernet utilizes standard TCP IP protocol RS232 Baud rate 9600 to 115 2K PID update rate of 122 us on all 10 axes Delivers exceptional servo control on multi axis applications e Identical outcomes when utilizing one or all axes of motion e Configurable PID filter with feed forward coefficients 266 MHz 32 bit RISC processor e Updates all signals and data points providing superior application control Controller Capabilities e Each axis has Limit Limit Home Auxiliary out and axis control out 16 General purpose bi directional TTL I O e 2 General purpose analog output with 16 bit 10 VDC input in addition to axes output e 4 Channels of general purpose analog input with 16 bit 10 VDC Motion Feedback e Each axis has an incremental encoder input e Quadrature Encoder Feed back up to 1
6. e abort Patented technology to minimize torque ripple and velocity modulation Internal Watchdog timer for safety Slip amp Stall detection with encoder feedback Linear Circular interpolation Constant and variable velocity contouring all axes Axis control signals are also on P1 amp P2 connector Output is 10V or Step amp Direction per Axis Independent home and plus minus over travel inputs for each axis Commands are intuitive for programming ease Over 150 ASCII character commands universal to current and previous OMS controllers Capable of conversion to user defined units i e inches revolutions if desired Person to person toll free tech support 800 707 8111 Beaverton Oregon MAXv DESCRIPTION The MAXv family of Motion Controllers brings the Oregon Micro Systems Inc OMS intelligent motion control technology to a new level of servo applications as well as stepping motors A much more powerful 266 MHz 32 Bit RISC processor PowerPC provides the capability and power for better and more sophisticated application control This new generation of motion control products provides up to 8 axes of motion control on a single card to VME bus compatible computers Each axis can be selected by the user to be an open or closed stepper or a high capability servo axis In addition independent analog inputs are provided to enable integration of analog parameters such as velocity override temperature pres
7. followed by the GO command Each axis programmed to move will start together upon executing the GO command The MAXp can be switched back to the independent axis mode by entering the desired single axis command such as AX PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage then move to a specified position the following will demonstrate the programming for a single axis e Initialize the velocity and acceleration parameters to suitable value Set a PID filter gain values Perform the home operation initializing the position counter to zero Perform a motion to an absolute position of 10 000 and set the done flag for that axis when the move is finished The following would be input from the host computer AX VL5000 AC50000 KP20 KI1 KD45 HN HMO MA10000 GO In a ID move requiring a three axis coordinated move to a select position the following commands could be used VL5000 5000 5000 AC50000 50000 50000 MT1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired absolute position so that all axes arrive at their destinations at the same time The following demonstrates cutting a hole with a 10 000 count radius using constant velocity contouring and circular interpolation e The contouring velocity is set to 1000 counts per second A contour is defined beg
8. provided to enable integration of analog parameters such as velocity override temperature pressure etc under the control of the running application An additional general purpose analog output is also available Outputs are provided for 16 bit analog servo output as wel as step and direction for stepper system applications The servo loop is a PID filter with feed forward coefficients and an update rate of 122 us on all 5 axes Independent plus and minus limits a home switch input and an auxiliary output provided for each of the 5 axes so that the state of any of them can be monitored by the system at any time An additional 8 User Definable I O is available for synchronization and control of other events Incremental encoder feedback differential or single ended is used for all servo axes and is available for position feedback and may also be used for slip or stall detection PROGRAMMING The MAXnet motion controllers are easily programmed with character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles with features such as IO and other functionality A separate FIFO command queue for each axis is used to store the commands once they are parsed in the MAXnet These commands are then executed sequentially allowing the host to send a complex command sequence and attend to other tasks while the MAXnet manages the motion process These co
9. 25 Pin Digital I O Connector J5 Servo Stepper 5VDC 5 VDC ORDERING INFORMATION 10 11 11 120 120 CONTROL SIGNAL CONNECTOR J2 Auxilia 61 63 65 67 69 al Ec 75 77 Index T 0 79 81 63 85 87 89 For 93 Direction Y 2 95 61 3 65 67 71 3 75 7 79 1 83 5 7 91 3 5 97 6 7 7 8 8 8 9 9 99 PhaseA Y V S e 97 Direcion X Y X Y TERES iary T Digital General Purpose 3 UserDefinabe 6 Universal 4 User Definable 8 Pp 40 6 12 10 12 8 UserDefinable 16 8 8 16 4 8 120 Pin Connector Breakout Module L e IOMAX Pro Dex Inc Oregon Micro Systems Beaverton Oregon MAXv Accelerating Possibilities OREGON MICRO SYSTEMS MAXv Intelligent 8 Axis Motion Controller for VME Bus FEATURES PID update rate of 122 us all 8 axes e Delivers exceptional servo control on multi axis applications Identical outcomes when utilizing one or all axes of motion e Configurable PID filter with feed forward coefficients 266 MHz 32 bit RISC processor e Updates all signals and data points providing superior application control 4032 Bytes of Dual Port RAM e Permits rapid data transfer to amp from controller large size accommodates e
10. 6 MHz on all encoder inputs e Absolute encoder feedback options for all axes up to 32 bit resolution Sophisticated Control Functionality 16 bit DAC analog resolution Step pulses from 0 to 4 194 176 steps per second 0 steps e Backlash compensation Custom parabolic 5 amp linear trajectory profiles e Real time encoder position capture e o Curve with 4 quadrant jerk parameters Pro Dex Inc OMS Control signals e Two 100 pin SCSI type connectors for high density signal connection e 16 user definable digital I O e Analog out per each axis can be used as general purpose when axis is configured for Step control ADDITIONAL FEATURES Small form factor 4 x 6 5 x 1 64 Stand alone capability Custom Power up Defaults Non Volatile Macro Storage Patented technology to minimize torque ripple and velocity modulation Internal Watchdog timer for safety Slip amp Stall detection with encoder feedback Linear Circular interpolation Constant and variable velocity contouring all axes Single axis multi axis and multi tasking modes Output is 10V or Step amp Direction per Axis Independent home and plus minus over travel inputs for each axis Auxiliary output per axis for Amp Drive enable Commands are intuitive for programming ease Over 250 ASCII character commands universal to current and previous OMS controllers Capable of conversion to user d
11. O SYSTEMS MAXv 3000 MAXv 4000 MAXv 5000 MAXv 6000 7000 8000 ACCESSORIES I O Breakout Board for MAXv CBL50 10 I O cable for MAXv to IOvMAX 10ft CBL68 10 MAXv to IOvMAX control cable 10ft 3701 2700000 Revision C Pro Dex Oregon Micro Systems Beaverton Oregon
12. amp typical 5 12VDC at 0 1 amp typical 10 Dimensions 4 x 6 5 x 0 7 Limit switch inputs TTL input signals Active low or high selectable by command input for each axis active low is default Connector One shielded 100 Pin SCSI type connector for all signals motor control I O Limits etc Breakout board available for ease of cabling Home switch inputs TTL input signals Active low or high selectable by command input for each axis active low is default User definable Up to 8 bits of user definable digital I O The 8 bits are user configurable and are configured as 4 inputs and 4 outputs as defaults from the factory Analog inputs Two independent resolution 10V analog inputs 16 Bit Pro Dex Inc Pg 3 Analog outputs servo 10V and 0 to 10V max One per axis plus one general purposes 16 Bit resolution Step pulse output Pulse width 50 duty cycle Open collector level signal TTL Direction output Open collector level signal TTL Encoder feedback Maximum 16 MHz after 4x quadrature detection Differential signal Reference IEEE 802 Software Software interface utilities provided High level expertise not required Over 250 ASCII character commands expanded from current OMS command set while backwards compatible The Company in Motion Beaverton Oregon MAXnet Pg 4 Control Signals 100 Pin SCSI Type 4
13. and 160 pin P2 connector for back plane interconnect Home switch inputs Input levels 3 30 VDC input sense low or high true selectable by command input for each axis User definable Up to 16 bits of user definable digital I O The 16 bits are user configurable and are configured as 8 inputs and 8 outputs as defaults from the factory NOTE 6 general purpose inputs are shared with two auxiliary encoder channels Analog inputs Six independent analog inputs 16 Bit resolution Analog outputs servo 10V and 0 to 10V max One per axis plus two general purposes Step pulse output Pulse width 50 duty cycle Open collector level signal TTL Direction output Open collector level signal TTL Encoder feedback Maximum 16 MHz after 4x quadrature detection Differential signal Reference VME64bus Specification ISO IEC 15776 2001 E VME64x Specification ANSI VITA 1 1 1997 Software High level expertise not required Over 250 ASCII character commands expanded from current OMS command set The Company in Motion Beaverton Oregon Pg 4 J12 IRQ and Address Mode J13 Address and Address Modifier J7 P2 I O or Analog Selection J8 P2 Step or Servo Selection e 6 299 Ordering Information 7 Model cpi M Np ae AN Accelerating Possibilities 2000 OREGON MICR
14. and 4 outputs on each of the two boards for a total of 16 I O as defaults from the factory Analog inputs Up to four independent analog inputs 16 Bit resolution 10V Pro Dex Inc OMS Pg 3 Analog outputs servo 10V and 0 to 10V max One per axis plus two general purpose all are 16 Bit resolution Step pulse output Pulse width 50 duty cycle Open collector level signal TTL Direction output Open collector level signal TTL Encoder feedback Maximum 16 MHz after 4x quadrature detection Differential signal Two 12 bit Absolute SSI encoder channels by default optional 32 bit absolute encoders available for all axes Reference IEEE 802 Software Software interface utilities provided High level expertise not required Over 250 ASCII character commands expanded from current OMS command set while backwards compatible The Company in Motion Beaverton Oregon MAXnet Pg 4 Control Signals 100 Pin SCSI Type x2 MAXnet Board t 1 26 DBnet Board gt Dimensions are approximate Ordering Information MAXnet 3000 Accelerating Possibilities Td 0 ACCESSORIES IOMAXnet Breakout Board for MAXnet IOMAXnet meters CBLMAX 12 I O cable for MAXnet to IOMAXnet 12 inches 3701 1800001 Revision B Pro Dex Oregon Micro Systems Beaverton Oregon UMX lf E Accetera tin
15. de slip and or stall detection Each axis includes dedicated overtravel inputs a home input and an auxiliary output PROGRAMMING UMX motion controllers are easily programmed with 2 and 3 character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles and are passed to the UMX controller A separate FIFO command queue for each axis is used to store the parsed commands by the UMX until they are executed allowing the host to send a complex command sequence and attend to other tasks while the UMX manages the motion process These command queues store 200 command and parameter words and include a command loop counter which allows multiple executions of any command string The following commands are available in the family of motion controllers Some commands expect one or more numerical operands to follow These commands are identified with a after the command The indicates a signed integer input parameter or a signed fixed point number of the format 4 when user units are enabled With user units defined distances velocity and acceleration parameters may be input in inches revolutions etc Synchronized moves may be made by entering the AA or AM command This command performs a context switch which allows entering commands of the format MRx y z t Numbers are entered for each axis which is to be commanded to move
16. efined units i e inches revolutions if desired Designed for expandability custom solutions Person to person toll free tech support 800 707 8111 OMS has more than 28 years proven success Beaverton Oregon MAXnet w DBnet DESCRIPTION The MAXnet family of Motion Controllers has been expanded to provide up to 10 axis of intelligent motion control A powerful 266 MHz 32 Bit RISC processor PowerPC provides the capability and power for better and more sophisticated application control This newest generation of motion control products provides up to 10 axes of motion control on a two board stack of 4 x 6 5 x 1 64 inches Each axis can be selected by the user to be an open or closed stepper or a high capability servo axis In addition independent analog inputs are provided to enable integration of analog parameters such as velocity override temperature pressure etc under the control of the running application Two additional general purpose analog outputs are also provided Outputs are provided for 16 bit analog servo output as wel as step and direction for stepper system applications The servo loop is a PID filter with several coefficients and an update rate of 122 us on all 10 axes Independent plus and minus limits a home switch input and an auxiliary output provided for each of the 10 axes so that the state of any of them can be monitored by the system at any time An additional 16 User Definable I O is available for
17. g Possibilities E E OREGON MICRO SYSTEMS NUM a 5 E n Me eT i a TTE TTE TT AS P 2 TTT 1 mt 11 5 11 gt E de ES iii UMX 27 5 E A Eu 18 RE see Prs HwaD USB Multi Axis Motion Controller FEATURES Controller capabilities Four axes of stepper control with encoder feedback or servo control Encoder feedback to 12MHz Communications USB 2 0 Plug and Play Stand alone Sophisticated Control Functionality 16 bit DAC analog resolution Independent and coordinated motion of all axes at the same time Slip amp 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 Flash Memory Field upgradeable firmware within Windows operating systems Non volatile program storage and parameter storage PRO DEX OREGON MICRO SYSTEMS Control signals Single high density shielded SCSI3 connector Up to 12 user I O Motion Con
18. g power to update every signal of the controller i e I O bits direction limits etc at rates of 122us The MAXp supports 16 general purpose digital I O signals which are opto isolated for optimum noise immunity The home and overtravel inputs are also opto isolated In addition it has four general purpose analog inputs that can be used to sense Pressure Transducers Dial Switches etc Analog inputs can also be used to control velocity override These analog inputs have 16 bit resolution with 10 VDC input Each axis has servo output signal capability configured as a 10V or 0 10V signal and is driven by a 16 bit DAC The servo control loop is a PID filter with feedforward coefficients and an update rate of 122 The step pulse is a TTL level 50 duty cycle square wave that supports velocities of O through 4 176 000 pulses per second Encoder feedback functionality supports quadrature encoders up to 16 MHz and is used as the servo feedback as feedback for the stepper axes or as independent position feedback Encoder feedback is also used to provide slip and or stall detection Every axis includes dedicated over travel inputs a home input and an auxiliary output The MAXp is available in several different models that support a different number of axes PROGRAMMING MAXp motion controllers are easily programmed with ASCII character commands through an extensive command structure These commands are combined into charac
19. he done flag for that axis when the move is finished VL5000 AC50000 KP20 KD45 HMO MA10000 GO ID Beaverton Oregon MAXv In a move requiring a three axis coordinated move to a position the following could be used KP 2 KD6 HN AY KP2 KD6 HN AZ KP2 KD6 HN AM VL5000 5000 5000 AC50000 50000 50000 MA1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position SPECIFICATIONS Velocity 0 to 4 176 000 pulses per second simultaneous on each axis Acceleration 0 to 8 000 000 pulses per second per second Position range 2 147 487 647 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode Environmental Operating temperature range 0 to 50 degrees centigrade otorage temperature range 20 to 85 degrees centigrade Humidity O to 9096 non condensing Power 5VDC 5 at 1 amp typical 12VDC at 0 1 amp typical 5 12VDC at 0 1 amp typical 10 Dimensions 6 4 x 9 2 x 0 7 Limit switch inputs Input levels 3 30 VDC Input sense low or high true selectable by command input for each axis Pro Dex Inc Pg 3 Connector Two shielded 68 Pin SCSI3 connectors for all motor control one 50 Pin SCSI2 connector for I O signals on front panel
20. inning at coordinates 0 0 on the Z and T axes Beaverton Oregon MAXP 3 e 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 e half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the hole e The hole is then cut the torch turned off the stage stopped and the contour definition completed e The stage is then positioned and the contour definition executed The following would be input from the host computer AA CV1000 CD 0 0 AN CRO 5000 3 1415926 CRO 0 6 2831853 AF MT 10 10000 CE MT 1000 0 GO CX SPECIFICATIONS Velocity 0 to 4 176 000 pulses per second simultaneous on each axis Acceleration to 8 000 000 pulses per second per second Position range 2 147 487 647 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5VDC 5 at 1 amp typical 3 3VDC 0 3 at amps typical 12VDC at 0 1 amp typical 5 12VDC at 0 1 amp typical 10 Dimensions 12 283 x 4 200 x 0 475 312 mm x 106mm x 12 06 mm Communication Interface Meets all signal specifications for PCI bus Specifica
21. ions in the common memory area These include the interrupt vector interrupt control and status done flag data over travel and home switch status Command Error an ASCII Command and an ASCII Response Ring Buffer slip flag for each axis as well as the user definable I O Some commands may be passed to the MAXv by passing the communication channel using the mailbox system These commands cause an immediate interrupt and may be used for critical commands such as abort Each axis may perform individual unrelated moves or they can be coordinated as required by the application Pro Dex Inc Pg 2 PROGRAMMING The MAXv motion controllers are easily programmed with character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles with features such as IO and other functionality A separate FIFO command queue for each axis is used to store the commands once they are parsed in the MAXv These commands are then executed sequentially allowing the host to send a complex command sequence and attend to other tasks while the MAXv manages the motion process These command queues can store 2559 command values and can include a loop counter that allows multiple execution of any command string All commands are sent to the controller as two or three character strings Some of these commands expect one or more numerical operands to follow These commands are iden
22. l expertise not required Over 200 ASCII character commands expanded from current OMS command set Software drivers and DLLs for Windows provided at no additional cost User Manual included servo Tuning Assistant software tools included at no additional cost Support software available for download at our web site Www pro dex com Part Number 3701 0900000 Revision D Beaverton Oregon N Step R 12 Direction R 4 PhaseA R 6 PhaseA R_ 8 PhaseB R 102 PhaseB R 112 11 pIndex R 4 Index R 56 T Negative Limit 18 Analog Input2 20 Ground 22 Analog Input3 24 Ground 26 Analog Input4 28 U Negative Limit 30 Step U 32 Direction U 34 5VDC 36 PhaseA U 98 PhaseA U 40 PhaseB U 2 PhaseB U 4 Index U 46 Index U 148 Z Positive Limit 50 R Servo 52 2 Ground 54 S Sevo 56 Ground 58 Analog Input1 60 59 2 4 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 Computer Model Interface MAXP 4 Description Step Z Direction Z Phase A Z Phase A Z Phase B Z Phase B Z PhaseB S Index Z ndex 4 Y Negative Limit T Servo Ground U Servo Ground V Servo T Home V Negative Limit R Negative Limit S Negative Limit Phase A X Phase A X Phase B X Phase B X Index X ndex X X Negative Limit X Servo Ground Y Servo Ground Z Servo
23. ls Opto isolated Digital I O High density shielded 120 pin connector Additional Features All communication via Device Driver and Driver Support DLL Dual Port RAM is utilized for high speed communications PCI 33 MHz Target Device Independent and coordinated motion of all axes Slip amp Stall detection with encoder feedback Patented technology to minimize torque ripple and velocity modulation Many control signals are opto isolated Independent home positive and negative over travel inputs Non volatile macro storage parameter storage Linear Circular interpolation Constant or Variable Velocity contouring all axes 120 Pin I O Breakout Module Field upgradable firmware Firmware upgrades and enhancements Customizable solutions available for your requirements Example programs and application code provided Web page support for downloading software and documentation Person to person toll free tech support call 800 707 8111 MAXP 2 DESCRIPTION The MAXp is a full length PCI bus motion controller that conforms to the PCI Local Bus specification rev 2 2 The MAXp is capable of up to 8 axis of control of which each axis can be configured as an open loop stepper a closed loop stepper or a servo axis The MAXp is powered by a PowerPC processor This high performance processor provides a 64 bit Floating Point processor and is clocked at 266MHz This provides the MAX with the pure processin
24. ment provided unless otherwise requested 3701 3200000 Revision A Beaverton Oregon r Oregon Micro Systems FEATURES MAXp Intelligent 8 Axis Motion Controller for PCI PID update rate of 122 us on all 8 axes Delivers exceptional servo control on multi axis applications Identical outcomes when utilizing one or all axes of motion Configurable PID filter with feedforward coefficients 266 MHz 32 bit RISC processor Updates all signals and data points providing superior application control An order of magnitude faster than our competition 64k Shared Memory Permits rapid data transfer to amp from controller Large size accommodates expandability to unique and custom applications PCI Universal Bus 3 3 or 5 0 volts PCI Rev 2 2 compliant Compatible with current and future PCI bus computers Memory 32 Mb System Memory Controller Capabilities 4 Channels of general purpose Analog Input with 16 bit 10 VDC input Up to 8 Analog outputs 10 VDC output 16 user definable digital I O Home and Limit for each axis Motion Feedback Support Quadrature Encoder Feed back up to 16 MHz Sophisticated Control Functionality 16 bit DAC analog resolution Step pulses from 0 to 4 176 000 steps per second 0 steps Backlash compensation Custom Parabolic S curve amp Linear trajectory profiles Real time encoder position capture S Curve with 4 quadrant jerk parameters Control signa
25. mmand queues can store 2559 command values and can include a loop counter that allows multiple execution of any command string There are approximately 200 commands available All commands are sent to the controller as two or three character strings Some of these commands expect one or more numerical operands to follow These commands are identified with after the command in the description The indicates a signed integer input parameter or a signed fixed point number of the format when User Units are enabled User Units define distances Velocity and acceleration parameters and represent the input in Inches millimeters revolution etc Pro Dex Inc Pg 2 Synchronized moves may be made by entering the AA or AM command mode This form of the command performs a context switch that allows entering commands in the format MRx y z t u Numbers are entered for each axis commanded to move An axis may be skipped by entering a comma at the appropriate axis position with no value parameter The command may be prematurely terminated with semicolon i e a move requiring only the X and Y axes to move would use the command MRx y followed by the GO command Each axis programmed to move will start together upon execution of the GO command The MAXnet can be switched back to independent axis mode by entering the desire single axis command such as AX PROGRAMMING EXAMPLES In a typical move requirement where i
26. nc OMS Pg 2 Synchronized moves may be made by entering the AA or AM command mode This form of the command performs a context switch that allows entering commands in the format MRx yit zT t Ust vit nit STE WIE KE Numbers are entered for each axis commanded to move An axis may be skipped by entering a comma at the appropriate axis position with no value parameter The command may be prematurely terminated with semicolon i e a move requiring only the X and Y axes to move would use the command MRx y followed by the GO command Each axis programmed to move will start together upon execution of the GO command The MAXnet can be switched back to independent axis mode by entering the desire single axis command such as AX PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage and then move to a specified position the following will demonstrate the programming for a single axis Initialize the velocity and acceleration parameters to a suitable value Set the PID filter gain values Perform the homing operation initializing the position counter to zero Perform a motion to the absolute position of 10 000 and set the done flag for that axis when the move is finished VL5000 AC50000 KP20 KD45 HMO MA10000 GO ID In a move requiring a three axis coordinated move to a position the following could be used KP2 KD6 HN AY KP2 KD6 HN
27. output per axis and are fixed as outputs Factory default is 4 inputs 4 outputs and 1 auxiliary per axis TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal The auxiliary outputs are TTL open collector outputs 7406 max 48mA The other outputs are TTL totem pole outputs 74LS243 max 24mA PRO DEX OREGON MICRO SYSTEMS Step pulse output Pulse width 50 duty cycle Open collector TTL level signal 7406 max 48mA Direction output Open collector TTL level signal 7406 max 48 Encoder Feedback Maximum 12 MHz after 4x quadrature detection Differential TTL level signal MC26G32 max 150mA The Company in Motion Beaverton Oregon UMX Actual Size Depiction below 2 257 A 3 557 FACTORY USE ONLY SEE rss Dgyx Im Accelerating Possibilities sm omms mm OREGON MICRO SYSTEMS PRO DEX OREGON MICRO SYSTEMS 0 20 0 125 Diameter Typical 0 20 0 125 Diameter Typical 0 20 ORDERING INFORMATION Pro Dex OMS UMX Motion Controls SERVO USER AXES MODEL AXES VO UMX 25 UMX26 0 UMX 45 UMX 46 ACCESSORIES MODEL DESCRIPTION Breakout board for standard UMX motion control 068 boards CBL68 10 10 ft cable w mating connector 68 pin IO68 UMX CDSWSUPP software drivers for Windows XP Windows Vista and Windows 7 CDMAN Electronic Manual 1 per ship
28. sure etc under the control of the running application Two additional encoder inputs are available for increased precision and control Two additional general purpose analog outputs are available Outputs are provided for 16 bit analog servo output as well as step and direction for stepper system applications The servo loop is a PID filter with feed forward coefficients and an update rate of 122 us on all 8 axes Independent plus and minus limits a home switch input and an auxiliary output provided for each of the 8 axes so that the state of any of them can be monitored by the system at any time An additional 16 User definable I O is available for synchronization and control of other events The voltage range of limit and home circuits has been extended for operation in the 3 to 30 VDC range Incremental encoder feedback differential or single ended is used for all servo axes and is available for position feedback and may also be used for slip or stall detection The bus interface uses Shared Memory technology for communication of commands from the host and feedback of motion control parameters Commands may be written to this Shared Memory by the host eliminating the communication bottlenecks of single address port based communications The MAXv uses the PowerPC s Message unit including the door bell technology to alert and flag the host or the Controller Interrupt control and other data are available through reserved storage reg
29. synchronization and control of other events Incremental encoder feedback differential or single ended is used for all servo axes and is available for position feedback and may also be used for slip or stall detection PROGRAMMING The MAXnet motion controllers are easily programmed with character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles with features such as IO and other functionality A separate FIFO command queue for each axis is used to store the commands once they are parsed in the MAXnet These commands are then executed sequentially allowing the host to send a complex command sequence and attend to other tasks while the MAXnet manages the motion process These command queues can store 2559 command values and can include a loop counter that allows multiple execution of any command string There are approximately 250 commands available commands are sent to the controller as two or three character strings Some of these commands expect one or more numerical operands to follow These commands are identified with after the command in the description The indicates a signed integer input parameter or a signed fixed point number of the format when User Units are enabled User Units define distances Velocity and Acceleration parameters and represent the input in Inches millimeters revolution etc Pro Dex I
30. t is desired to home the stage and then move to a specified position the following will demonstrate the programming for a single axis Initialize the velocity and acceleration parameters to a suitable value Set the PID filter gain values Perform the homing operation initializing the position counter to zero Perform a motion to the absolute position of 10 000 and set the done flag for that axis when the move is finished VL5000 AC50000 KP20 KD45 HMO MA10000 GO ID In a move requiring a three axis coordinated move to a position the following could be used KP2 KD6 HN AY KP2 KD6 HN AZ KP2 KD6 HN AM VL5000 5000 5000 AC50000 50000 50000 MA1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position Beaverton Oregon MAXnet SPECIFICATIONS Velocity 0 to 4 194 303 pulses per second simultaneous on each axis Acceleration 0 to 8 000 000 pulses per second per second Position range 2 147 487 647 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5VDC 5 at 1 amp typical 12VDC at 0 1
31. ter strings to create sophisticated motion profiles with features of I O and other functionality A separate FIFO command queue for each axis is used to store the commands once they are parsed by the MAXp The commands are executed sequentially allowing the host to send a complex command sequence and attend to other tasks while the MAXp manages the motion process These command queues store 2559 command values and include a command loop counter which allows multiple executions of any queued command All commands are sent to the controller as two or three character ASCII strings Some of these commands expect one or more numerical operands to follow These commands are identified with a after the command The indicates a signed integer input parameter or a signed fixed point number of the format 4 when user units are enabled User Units define distances velocity and acceleration parameters and may be inputted in inches millimeters revolutions etc Pro Dex Inc Oregon Micro Systems oynchronized moves may be made by entering the AA or AM command mode This form of the command performs a context switch that allows entering commands of the format MRx y zZ t utt vit rit 5 Numbers are entered for each axis commanded to move An axis may be skipped by entering the comma with no parameter The command may be prematurely terminated with i e a move requiring only the X and Y axes would use the command MRx y
32. tified with after the command The indicates a signed integer input parameter or a signed fixed point number of the format when User Units are enabled User Units define distances Velocity and acceleration parameters and represent the input in Inches millimeters revolution etc Synchronized moves may be made by entering the AA or AM command mode This form of the command performs a context switch that allows entering commands in the format MRx y 2 t Uu V 1 s Numbers are entered for each axis commanded to move An axis may be skipped by entering a comma at the appropriate axis position with no value parameter The command may be prematurely terminated with semicolon i e a move requiring only the X and Y axes to move would use the command MRx y followed by the GO command Each axis programmed to move will start together upon execution of the GO command The be switched back to independent axis mode by entering the desire single axis command such as AX PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage and then move to a specified position the following will demonstrate the programming for a single axis Initialize the velocity and acceleration parameters to a suitable value Set the PID filter gain values Perform the homing operation initializing the position counter to zero Perform a motion to the absolute position of 10 000 and set t
33. tions Rev 2 2 Pro Dex Inc Oregon Micro Systems Limit switch inputs Opto isolated TTL input levels Opto max 50mA Input sense low or high true selectable by command input for each axis Connector Single HI Density Shielded 120 Pin connector for all motor control functions Mating connector and otrain Relief Hood Separate 25 Pin D Sub connector for all Digital I O functions 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 16 bits of user definable Digital I O All bits are opto isolated 16 bits are user configurable that are configured as 8 inputs and 8 outputs from the factory These signals are passed through an optocoupler with a maximum input forward current of 50mA and a maximum output emitter collector voltage of 35V and 50mA collector current Analog inputs Four independent analog inputs 16 Bit resolution Analog outputs 10V and 0 to 10V max 1mA each One per axis Step pulse output Pulse width 50 duty cycle Open collector TTL level signal 7406 max 48 Direction output Open collector TTL level signal 7406 max 48mA Encoder Feedback Maximum 16 MHz after 4x quadrature detection Differential TTL level signal 26LV32 max 15 Reference PCI specification Rev 2 2 PCB mechanical specification IEEE 1101 1 1101 10 and P1101 11 Software High leve
34. trol Output is 10V or 0 10V Servo or Step amp Direction Dedicated home and plus minus over travel inputs for each axis Software and Firmware High level programming expertise not required Over 150 commands universal to all OMS controllers Commands are ASCII characters Capable of conversion to user defined units i e inches revolutions Software for Windows 95 98 NT 2000 XP and Vista Software supplied at no additional cost Flexible and Expandable Small form factor 3 55 x 3 3 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 OMS controls are 100 tested and quality inspected Beaverton Oregon UMX DESCRIPTION The UMX controller is compatible with the PC78 and PCIx controller families with 2 4 axes control The UMX 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 axes or as independent position feedback The encoder feedback can provi
35. vers exceptional servo control on multi axis applications e Identical outcomes when utilizing one or all axes of motion e Configurable PID filter with feed forward coefficients 266 MHz 32 bit RISC processor e Updates all signals and data points providing superior application control Controller Capabilities e Each axis has Limit Limit Home Auxiliary out and axis control out 8 General purpose bi directional TTL I O e 1 General purpose analog output with 16 bit 10 VDC input in addition to axes output e 2 Channels of general purpose analog input with 16 bit 10 VDC Motion Feedback e Each axis has an incremental encoder input e Quadrature Encoder Feed back up to 16 MHz on all encoder inputs Sophisticated Control Functionality 16 bit DAC analog resolution Step pulses from 0 to 4 194 303 steps second 0 steps e Backlash compensation Custom parabolic S Curve amp linear trajectory profiles e Real time encoder position capture e o Curve with 4 quadrant jerk parameters Pro Dex Inc Control signals e Single 100 pin SCSI type connector for high density signal connection 8 user definable digital I O e Analog out per each axis can be used as general purpose when axis is configured for Step control ADDITIONAL FEATURES Small form factor 4in x 6 5in Stand alone capability Custom Power up Defaults Non Volatile Macro Storage Patented technolog
36. xpandability to unique and custom applications VME64 Specification he 160 pin P1 P2 connectors provide high density connectivity on the back plane VME and VME64 compliant Controller Capabilities e 6 Channels of general purpose analog input with 16 bit 10 VDC input e 2 Channels of general purpose analog output with 16 bit 10 VDC output Motion Feedback e Support Quadrature Encoder Feed back up to 16 MHz on up to 10 encoder inputs Sophisticated Control Functionality 16 bit DAC analog resolution Step pulses from 0 to 4 176 000 steps per second 0 steps e Backlash compensation Custom parabolic S Curve amp linear trajectory profiles e Real time encoder position capture o Curve with 4 quadrant jerk parameters Pro Dex Inc Control signals e Two 68 pin SCSI3 and one 50 SCSI2 connectors for high density signal connection on the front panel e 16 user definable digital I O e P2 connector is 160 pins and supports most of the signals available on the front panel ADDITIONAL FEATURES Consumes a single VME 6U slot Interface port VME P1 and P2 supports both 96 Pin and 160 pin connectors Supports A16 A24 and A32 Addressing modes Non Volatile Macro Storage VME64bus specification ISO IEC 15776 2001 E Motion parameters continuously available in shared RAM for real time profile status Electronic mailbox in shared RAM for priority commands i
37. y to minimize torque ripple and velocity modulation Internal Watchdog timer for safety Slip amp Stall detection with encoder feedback Linear Circular interpolation Constant and variable velocity contouring all axes Single axis multi axis and multi tasking modes Output is 10V or Step amp Direction per Axis Independent home and plus minus over travel inputs for each axis Auxiliary output per axis for Amp Drive enable Commands are intuitive for programming ease Over 250 ASCII character commands universal to current and previous OMS controllers Capable of conversion to user defined units i e inches revolutions if desired Designed for expandability custom solutions Person to person toll free tech support 800 707 8111 OMS has more than 28 years proven success Beaverton Oregon MAXnet DESCRIPTION The MAXnet family of Motion Controllers brings the Oregon Micro Systems Inc OMS intelligent motion control technology to a new level of servo applications as well as stepping motors A much more powerful 266 MHz 32 Bit RISC processor PowerPC provides the capability and power for better and more sophisticated application control This newest generation of motion control products provides up to 5 axes of motion control on a single 4 x 6 5 inch card Each axis can be selected by the user to be an open or closed stepper or a high capability servo axis In addition independent analog inputs are
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