MaxMotion Motion Control Card - Digital Servo Control

SYSTEMS

www.pbasystems.com.sg

P R E C I S I O N M O T I O N C O N T R O L C A R DMAXMOTION PA SERIES

DIGITAL SERVO CONTROLmulti-axis servo & stepper

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PBA Systems is an ISO certified company that designs and manufactures motion control products, including linear motor modules, voice coil modules, piezo

stages, large XYZ Theta stages and other special customized solutions.

Founded in 1999, PBA Systems continuously aims for technological breakthroughs and innovations, working to deliver

the best products to our customers while providing excellent service and uncompromising quality standards. For

enquiries on any of our products, email us at [email protected] or call us at +65 6576 6767

5 0 1 8 3 5 0 1 5 0 1 8 5 3 8 18

the leader in linear motors

motor modules servo drives motion control cards

software encoders & cables mechanical design& fabrication

+ +

+ + +

= complete solution

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GLOBAL SUPPORT

MAKING IT GOOD & MAKING IT CHEAP

FAST REACTION & SHORT LEAD TIME

PBA SYSTEMS products are well covered with world-wide distrbutors and local offices.

We are vertically integrated with factories in China that supply the motor magnets.South East Asian factories for machining and assembly.

We hold vast stocks of work in progress parts. We are equipped to accomodate highly customised designs.PBA staffs work around the clock to deliver goods on time.

BRANCH OFFICE

DISTRIBUTORS

global locations

USA

India

Israel

ItalySwitzerland

Germany

Korea

IndonesiaSingapore

MalaysiaThailand

Philippines

Taiwan

China

We reserve the right to make technical changes at any time without prior notice

S P E C I F I C A T I O N S

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MM PA-40S-0 / MM PA-40S-B The MaxMotion PA-40S-0 / PA-40S-B is designed for PC-based multi-axis motion control applications which require up to 4 axes of high performance analog or PWM servo control. General-purpose digital I/O and optional analog inputs are also available with this model.

Compact, powerful and economical PCI-bus motion controller Plug & Play half-length PCI-bus Universal card 64-bit floating point RISC CPU for superior performance, precision and dynamic range Flexible FPGA-based I/O architecture Up to 8 axes of high-performance closed-loop control 1-4 analog or PWM servo axes Multi-axis coordinated motion - interpolation, contouring, spline, master/slave, gearing Trapezoidal, S-curve and parabolic velocity profiles for smooth jerk-free motion User selectable 1, 2 or 4 KHz PID-VAFF servo loop update rate each axis (up to 4 axes) 16-bit analog servo command outputs for superior precision 20 million encoder counts/sec for high-speed/ high-resolution moves On-the-fly changes in trajectory, direction and PID values On-board multi-tasking and programmable interrupts free host PC for other tasks Consistent real-time behavior: Performance remains as specified no matter which features or axes are enabled Eight general-purpose 14-bit A/D input channels (optional) 60 user-assignable digital I/O channels Encoder inputs include encoder-failure detection circuitry for improved machine safety High-speed I/O for ultra-fast synchronization of motion and external events Sub-microsecond position capture (latch) inputs Encoder position compare (trigger) outputs (up to >1 MHz repeat rate) Custom features and task-optimized performance enhancements available upon request All I/O signals are differential or complementary twisted-pairs for superior noise immunity Flexible and fully software configurable I/O - no need to set any hardware jumpers Uses non-proprietary and widely-available low-cost SCSI cables & interconnect boards Fully programmable in C/C++/C#, Delphi, LabVIEW, Visual Basic and easy-to-use on-board command language Drivers for Windows 98/NT/2000/XP/Vista and Linux Powerful and flexible software software API is compatible with Max Motion Series Control Cards Includes a full suite of Windows installation, tuning, diagnostic and example programs with source code

Part Numbers Part Number Analog and/or PWM

Servo Axes (±10 VDC) (Servo)

Step/Dir. or CW/CCW Pulse Axes

(Stepper/Servo)

Encoder Channels (0-20 MHz)

Analog Inputs (14-bit)

MM PA-40S-0 4 0 4 0 MM PA-40S-B 4 0 4 8

M A K E S A D I F F E R E N C Ew w w. p b a s y s t e m s . c o m . s g

MaxMotion PA Series Precision Motion Control Card Multi-axis Servo and Stepper



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Specifications System Architecture

CPU: 64-bit floating-point RISC processor I/O interface: 150,000 gate FPGA OS: Real-time embedded multi-threading kernel

Form Factor

PCI-bus short-card (PCI 2.2 specification) Plug & play PCI Universal card (3.3 & 5V signaling)

Communication

33 MHz, 32-bit PCI-bus Universal interface High speed binary or ASCII communication via dual-ported RAM Supports PCI-bus interrupts to avoid polling Flexible user-defined interrupt conditions

Software & Programming

Programmable in C, C++, C#/.NET, Delphi, LabVIEW, Visual Basic Drivers for 32 & 64 bit Windows & Linux Full support for Microsoft .NET framework For real-time OS drivers (QNX, VxWorks, etc.) contact PBA Sytems Supports multi-threaded applications Motion Control API includes many useful utilities and sample programs

with source code Also programmable in native easy-to-use motion command language

(MCCL) Supports multi-tasking of MCCL user routines Includes Motion Integrator Windows software suite for easy installation,

tuning and diagnostics Software is compatible with Max Motion Series Control Cards All software is included at no extra charge

Motion Capabilities

4 axes of analog servo control Multi-axis independent point-to-point positioning Multi-axis synchronized & coordinated motion Multi-axis linear & circular interpolation High-resolution electronic gearing Position, velocity, gain and joystick (jog) modes Backlash compensation Position capture inputs and compare outputs for high-speed latching

and event triggering Custom motion capabilities available upon request

Trajectory Generator

1, 2 or 4 kHz trajectory update rate (software selectable) Trapezoidal, parabolic and S-curve velocity profiles Independent acceleration & deceleration Trajectory & PID parameters can be changed on-the-fly

Memory

16 MB Dynamic RAM 2 MB Flash ROM for non-volatile program storage

Kinematic Ranges

Position: 32 bit (± 2,147,483,647 steps) Velocity: 64 bit floating point (± 10208 encoder counts/sec2) Acceleration: 64 bit floating point (± 10208 encoder counts/sec2)

Servo Control Signals 4 axes of ±10V analog or PWM servo command Analog output resolution: 16-bits PWM output frequency: Software selectable

Position Feedback

4 quadrature incremental encoder channels w/index 20 MHz encoder count rate each axis Single-ended or differential (A+, A-, B+, B-, I+, I-) High-speed encoder failure detection circuitry Digital noise filtering 32-bit position resolution (± 2,147,483,647 counts)

Servo Filter

Proportional/Integral/Derivative (PID) with acceleration, deceleration & velocity feed forward

Analog & PWM axes: 1, 2 or 4 kHz loop rate each axis (software selectable)

I/O Signals

16 uncommitted bi-directional opto-isolated inputs with individually configurable supply & return: 5 to 24 Volts. (For ± limits, amp fault, etc.)

12 uncommitted high-current open-collector outputs (sinking up to 100 mA): 5 to 24 Volts. (For amp enable/disable, full/half current, step/microstep, etc.)

32 uncommitted digital TTL I/O channels: 16 inputs and 16 outputs TTL outputs can sink 24 mA and source 15 mA Optional: 8 channels of 14-bit analog inputs for joystick or other general

purpose inputs 4 high-speed position capture (latch) inputs (less than 1 uSec latency) 2 high-speed position compare outputs (up to 1 MHz trigger rate) E-stop configurable to any digital input Logical I/O functions can be re-mapped to different physical I/O

channels as needed Connections

All signals conveniently accessible on 68 pin SCSI connectors on the PCI mounting-bracket

Low cost cables widely available off-the-shelf from PBA Sytems or 3rd party cable suppliers

All I/O signals configured as matched twisted pairs for superior noise immunity

Screw-terminal interconnection boards available from PBA Systems or 3rd party suppliers

Other

On-board watchdog timer for failsafe operation Quick power-on firmware updates via software flash-wizard Custom features and performance enhancements available on request

- source code available to qualified OEM's Environmental & Mechanical

Operating temperature: 0-55 ºC (32-131 ºF) R.H. non-condensing Size: 176mm x 107mm (6.875" x 4.2") per PCI 2.2 specification

MM PA-40S-0 / MM PA-40S-B



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MM PA-44S-0 / MM PA-44S-A / MM PA-44S-B / MM PA-44S-C The MaxMotion PA-44S-0 / PA-44S-A / PA-44S-B / PA-44S-C is designed for high-performance PC-based multi-axis motion control applications which require up to 4 axes of analog servo control and up to 4 axes of pulse stepper control. Optional encoder inputs for closed-loop stepper or pulse-based servo control and general-purpose analog inputs are also available for this model.

Compact, powerful and economical PCI-bus motion controller Plug & Play half-length PCI-bus Universal card 64-bit floating point RISC CPU for superior performance, precision and dynamic range Flexible FPGA-based I/O architecture Up to 8 axes of high-performance closed-loop control 1-4 analog or PWM servo axes 1-4 Step/Dir/CW/CCW pulse axes (for stepper motors or pulse-controlled servos) Multi-axis coordinated motion - interpolation, contouring, spline, master/slave, gearing Trapezoidal, S-curve and parabolic velocity profiles for smooth jerk-free motion User selectable 1, 2 or 4 KHz PID-VAFF servo loop update rate each axis (up to 4 axes) 1 KHz PID-VAFF stepper closed-loop update rate each axis (up to 4 axes) 16-bit analog servo command outputs for superior precision 20 million encoder counts/sec for high-speed/ high-resolution moves 5 MHz pulse outputs for high-speed microstepping Open and closed-loop stepper control On-the-fly changes in trajectory, direction and PID values On-board multi-tasking and programmable interrupts free host PC for other tasks Consistent real-time behavior: Performance remains as specified no matter which features or axes are enabled Eight general-purpose 14-bit A/D input channels (optional) 60 user-assignable digital I/O channels Encoder inputs include encoder-failure detection circuitry for improved machine safety High-speed I/O for ultra-fast synchronization of motion and external events Sub-microsecond position capture (latch) inputs Encoder position compare (trigger) outputs (up to >1 MHz repeat rate) Custom features and task-optimized performance enhancements available upon request All I/O signals are differential or complementary twisted-pairs for superior noise immunity Flexible and fully software configurable I/O - no need to set any hardware jumpers Uses non-proprietary and widely-available low-cost SCSI cables & interconnect boards Fully programmable in C/C++/C#, Delphi, LabVIEW, Visual Basic and easy-to-use on-board command language Drivers for Windows 98/NT/2000/XP/Vista and Linux Powerful and flexible software software API is compatible with Max Motion Series Control Cards Includes a full suite of Windows installation, tuning, diagnostic and example programs with source code

Part Numbers Part Number Analog and/or PWM Axes

(Servo) Step/Dir. or CW/CCW

Pulse Axes (Stepper/Servo)

Encoder Channels (0-20 MHz)

Analog Inputs (14-bit)

MM PA-44S-0 4 4 4 0 MM PA-44S-A 4 4 8 0 MM PA-44S-B 4 4 4 8 MM PA-44S-C 4 4 8 8





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Specifications System Architecture

CPU: 64-bit floating-point RISC processor I/O interface: 150,000 gate FPGA OS: Real-time embedded multi-threading kernel

Form Factor

PCI-bus short-card (PCI 2.2 specification) Plug & play PCI Universal card (3.3 & 5V signaling)

Communication

33 MHz, 32-bit PCI-bus Universal interface High speed binary or ASCII communication via dual-ported RAM Supports PCI-bus interrupts to avoid polling Flexible user-defined interrupt conditions

Software & Programming

Programmable in C, C++, C#/.NET, Delphi, LabVIEW, Visual Basic Drivers for 32 & 64 bit Windows & Linux Full support for Microsoft .NET framework For real-time OS drivers (QNX, VxWorks, etc.) contact PBA Sytems Supports multi-threaded applications Motion Control API includes many useful utilities and sample programs

with source code Also programmable in native easy-to-use motion command language

(MCCL) Supports multi-tasking of MCCL user routines Includes Motion Integrator Windows software suite for easy installation,

tuning and diagnostics Software is compatible with Max Motion Series Control Cards All software is included at no extra charge

Motion Capabilities

8 axes total 4 axes of analog or PWM servo control 4 axes of pulse (step) control (Step/Dir/CW/CCW) Optional closed-loop control for pulse axes Multi-axis independent point-to-point positioning Multi-axis synchronized & coordinated motion Multi-axis linear & circular interpolation High-resolution electronic gearing Position, velocity, gain and joystick (jog) modes Backlash compensation Position capture inputs and compare outputs for high-speed latching

and event triggering Custom motion capabilities available upon request

Trajectory Generator

1, 2 or 4 kHz trajectory update rate (software selectable) Trapezoidal, parabolic and S-curve velocity profiles Independent acceleration & deceleration Trajectory & PID parameters can be changed on-the-fly

Memory

16 MB Dynamic RAM 2 MB Flash ROM for non-volatile program storage

Stepper Control Signals 4 axes of pulse command (Step/Dir/CW/CCW) Full step, half-step, microstep & full and half current 50% pulse-train duty-cycle

Position Feedback

Standard: 4 quadrature incremental encoder channels w/index Optional: 8 quadrature incremental encoder channels w/index 20 MHz encoder count rate each axis Single-ended or differential (A+, A-, B+, B-, I+, I-) High-speed encoder failure detection circuitry Digital noise filtering 32-bit position resolution (± 2,147,483,647 counts)

Servo Filter

Proportional/Integral/Derivative (PID) with acceleration, deceleration & velocity feed forward

Analog & PWM axes: 1, 2 or 4 kHz loop rate each axis (software selectable) Pulse axes: 1 kHz loop rate each axis

I/O Signals

16 uncommitted bi-directional opto-isolated inputs with individually configurable supply & return: 5 to 24 Volts. (For ± limits, amp fault, etc.)

12 uncommitted high-current open-collector outputs (sinking up to 100 mA): 5 to 24 Volts. (For amp enable/disable, full/half current, step/microstep, etc.)

32 uncommitted digital TTL I/O channels: 16 inputs and 16 outputs TTL outputs can sink 24 mA and source 15 mA Optional: 8 channels of 14-bit analog inputs for joystick or other general

purpose inputs 4 high-speed position capture (latch) inputs (less than 1 uSec latency) 2 high-speed position compare outputs (up to 1 MHz trigger rate) E-stop configurable to any digital input Logical I/O functions can be re-mapped to different physical I/O

channels as needed Connections

All signals conveniently accessible on 68 pin SCSI connectors on the PCI mounting-bracket

Low cost cables widely available off-the-shelf from PBA Sytems or 3rd party cable suppliers

All I/O signals configured as matched twisted pairs for superior noise immunity

Screw-terminal interconnection boards available from PBA Systems or 3rd party suppliers

Other

On-board watchdog timer for failsafe operation Quick power-on firmware updates via software flash-wizard Custom features and performance enhancements available on request

- source code available to qualified OEM's Environmental & Mechanical

Operating temperature: 0-55 ºC (32-131 ºF) R.H. non-condensing Size: 176mm x 107mm (6.875" x 4.2") per PCI 2.2 specification

Closed-loop control with optional encoder inputs

MM PA-44S-0 / MM PA-44S-A / MM PA-44S-B / MM PA-44S-C

Kinematic Ranges Position: 32 bit (± 2,147,483,647 steps) Velocity: 64 bit floating point (± 10208 encoder counts/sec2) Acceleration: 64 bit floating point (± 10208 encoder counts/sec2)

Servo Control Signals 4 axes of ±10V analog or PWM servo command Analog output resolution: 16-bits PWM output frequency: Software selectable For pulse-controlled servo systems:

o 4 axes of pulse command (Step/Dir/CW/CCW) o 5 MHz maximum pulse rate

5 MHz maximum pulse rate each axis (up to 4 axes)

Catalogue PBA Systems 130513Every care has been taken to ensure the correctness of the information contained in the book but no liability can be accepted for any errors or omissions.Copyright reserved. This book or parts thereof may not be reproduced without our permission.

PBA GROUP

Manufacturing Plants

USA

KOREA

ISRAEL

SWITZERLAND

CHINA

TAIWAN

GERMANY

ITALY

DISTRIBUTORSPBA (S) Pte LtdHeadquartersAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]: www.pba.com.sg

PBA Solutions Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6776Fax: +(65) 6576-6765Email: [email protected]: www.pbasolutions.com

PBA Systems Pte Ltd (601191)Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6767Fax: +(65) 6484-6768Email: [email protected]: www.pbasystems.com.sg

PBA Technology Pte Ltd (QA251)Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6760Fax: +(65) 6576-6761Email: [email protected]: www.pbatechnology.com

PBA Spindles Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6778Fax: +(65) 6576-6782Email: [email protected] Website: www.pba-spindles.com

PM-PBA Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]

SINGAPORE MALAYSIAPBA Industries (M) Sdn BhdAddress: No 12A, Ground Floor Aked Esplanad, Jalan 14/155BBukit JalilKuala Lumpur, Malaysia 57000 Tel: +(60) 03-8993-9101 / 9102 / 9103Fax: +(60) 03-8993-9106Email: [email protected]

PBA System (M) Sdn BhdAddress: No 12A, Ground Floor Aked Esplanad, Jalan 14/155BBukit JalilKuala Lumpur, Malaysia 57000 Tel: +(60) 03-8993-9105Fax: +(60) 03-8993-9106Email: [email protected]

PBA Industries (PG) Sdn BhdAddress: 17-2-5, Bayan Point,Medan Kampung Relau,Penang, Malaysia 11900Tel: +(60) 04-6427915 / 6452916Fax: +(60) 04-6447434Email: [email protected]

PBA Advantech (M) Sdn BhdAddress: No 26 & 28, Jalan PTP 1/4, Taman Perindustrian Tasik Perdana, Puchong, Selangor 47120 Tel: +(60) 03-8993-9101 / 9102 / 9103Email: [email protected]

PBA (S) Pte LtdPhilippines Rep Office:Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]: www.pbagroup.net

PHILIPPINES

TAIWAN

THAILANDPBA Systems (Thailand) Co., Ltd.Address: 234/118, Asok-Dindaeng Road, Huakwang, Bangkapi, Bangkok, Thailand 10310Tel: +(66) 2-641-4522 / 641-4523Fax: +(66) 2-614-4400 E-mail: [email protected]

International Magnetics Technology Co., LtdAddress: Nongkhae Industrial Estate10/19 Soi SRDI Moo4,Tambon Kokyae, Amphur Nongkae,Saraburi, Thailand 18230Tel: +(66) 3-637-4024

新加坡商立狄線性馬達有限公司地址: 臺北市民權西路35號6樓之2Address: 6-2 FL No. 35, Min Chuan West Road, Taipei, Taiwan 104Tel: +(886) 2-2599-3558Fax: +(886) 2-2599-3042HP: +(886) 982-090-501 / +(886) 938-030-774 Email: [email protected]

PBA Systems Pte LtdAddress: Ace Hitech City 2-1504, 775, Gyeongin-Ro, Yeongdeungpo-Gu, Seoul, South KoreaTel: +(82) 2-3439-0070 / 71 / 72 / 73 / 74Fax: +(82) 2-3439-0080Email: [email protected]

KOREA

CHINASales Office 销售办事处:立狄线性马达（深圳）有限公司PBA Linear Motor Co. Ltd.宝安42区兴华一路华创达中心商务大厦A栋407-A42 Xinghua Road, HuaChuangDa Central Business Building,Block A, 407-ABaoan District, Shenzhen, China 518000Tel：+(86) 755-216-77507Fax：+(86) 755-216-77506

Representative Office 代表机构:新加坡碧绿威私人有限公司深圳代表处宝安42区兴华一路华创达中心商务大厦A栋407-B42 Xinghua Road, HuaChuangDa Central Business Building,Block A, 407-BBaoan District, Shenzhen, China 518000Tel：+(86) 755-216-77507Fax：+(86) 755-216-77506

Indonesia Rep: Mr. Raya TjendrawasiH/P: +(62) 816-4846-547Email: [email protected]

INDONESIA

INDIA

PBA (India) Engineering Services and Supplies Private LimitedAddress: 503, 5th Floor Shivai Plaza, Marol, Andheri East, Mumbai, India 400 059Tel: +(91) 22-401-58381Fax: +(91) 22-401-58389 Email: [email protected]