DDAATTASHEETASHEET Prodigy /CME Machine Controller Board FEATURES Complete all-in-one Incremental quadrature and machine controller Absolute SSI encoder support Available in 1, 2, 3, and 4-axis 6-step commutation and field configurations oriented control modes Uses PMDs advanced Profile and servo changes Magellan Motion Processor on-the-fly Supports DC Brush, Brushless Advanced PID filter with DC, and step motors feedforward and dual biquad filters On-board high performance Atlas amplifiers High-speed hardware performance trace (up to S-curve, trapezoidal, 468 KB) electronic gearing, and velocity-contouring 8 channels of high precision 16-bit analog Ethernet, CANbus and serial input and output communications 12+ channels of general Board-level execution of user purpose digital I/O application code at 96 MIPs Two directional limit High speed loop rate: switches, high speed index, 50 sec/axis Prodigy /CME Machine Controller Boards and home inputs per axis provide high performance motion control for medical, Up to 256 microsteps per full C-Motion Engine scientific, automation, industrial, and robotic applications. step resolution development tools Available in 1, 2, 3, and 4-axis configurations, these boards Up to 1KW peak output support DC Brush, Brushless DC, and step motors and allow Support for external power per axis user-written C-language code to be downloaded and run amplifiers via +/- 10V directly on the board. The Prodigy/CME Machine Controller analog output Extensive fault detection has on-board Atlas amplifiers that eliminate the need for including over and Inc ludes Pro-Motion , external amplifiers. To build a fully functioning system only undervoltage, motor C-Motion and VB-Motion a power supply, motors, and cabling are needed. short, and overtemp development software Single voltage supply drives Built on the Magellan Motion Control IC motors and board logic Based on PMDs industry-leading Magellan Motion Processor, the Prodigy/CME Machine Controller boards provide user-selectable profile modes including S-curve, CONFIGURATION trapezoidal, velocity contouring, and electronic gearing with on-the-fly parameter change. Servo loop compensation utilizes a full 32-bit position error, PID with velocity and acceleration System Host* feedforward, integration limit and dual biquad filters for sophisticated control of complex loads. On-Board Amplifiers Encoder Motor (Oponal for Axis 1 Up to four on-board Atlas amplifiers provide high Step Motor) performance amplification for even the most demanding applications. These compact and powerful units provide Encoder field oriented control, safety monitoring, and industry-leading Axis 2 (Oponal for Motor drive efficiencies. Prodigy/CME Step Motor) Machine Easy to Use and Program Controller Encoder The Pro-Motion GUI makes it easy to set-up and analyze Board Motor Axis 3 (Oponal for system parameters and motion performance. PMDs C-Motion Step Motor) and VB-Motion libraries simplify the program development process and allow the use of industry standard C/C++ or Encoder Visual Basic programming languages. Motor Axis 4 (Oponal for Step Motor) *System host oponal Ethernet Serial CANbusTechnical Overview Sync Home, Axis Digital signal Dual-port In, Axis Out, Non-volatile conditioning Power Distribution Trace & Prole Limits, Hall RAM RAM Storage Sensors Quadrature Quad A, B, signal conditioning Index SSI C-Motion Data, Clock Engine MAGELLAN Brushless DC Motion Control IC ATLAS High-Speed DC Brush Digital Ampliers Internal Step Motor Bus A/D, D/A Analog in analog conditioning Analog Out Reset I/O logic decode Amplier Amplier enable enable Digital I/O Digital I/O CANbus tranceiver Serial transceiver Ethernet transceiver CANbus Serial Ethernet SPECIFICATIONS Machine Controller ATLAS Digital Amplifiers Number of axes supported 1, 2, 3 or 4 axes ATLAS Digital amplifiers are compact single-axis amplifiers that provide high performance torque control of DC brush, brushless DC, and step motors. They are Supported motor types DC Brush, Brushless DC, packaged in a Compact or Ultra Compact solderable module and utilize standard Step motor through-hole pins for all connections. Servo loop rates 51.2 sec to 1.6 sec. Minimum depends Voltage Input 12-56 VDC upon number of enabled axes and use of trace Microstepping resolution 256 Encoder formats supported Quadrature, Absolute SSI PWM frequency 20, 40, 80 kHz Quadrature decode rate 40 Mcounts/sec Current Loop rate 20 kHz Capability for onboard amplifier Yes, Atlas Digital Amplifier Power rating options 75W, 250W, 500W Motor output signals Analog 10V Ultra Compact size: General purpose digital I/O 8 bi-directional, 4 input, 4 output 1.05 x 1.05 x .53 (27mm x 27mm x 13mm) Mechanical Dimensions General purpose analog input 8 16-bit channels ( 10V) Compact size: General purpose analog outputs 8 16-bit channels ( 10V) 1.52 x 1.52 x .60 (39mm x 39mm x 15mm) Limit switches 2 per axis: one for each direction of travel Profile modes User program memory 256 KB Flash / 8 KB RAM S-curve point-to-point: Position, velocity, acceleration, deceleration, jerk User program stack memory 8 KB RAM Trapezoidal point-to-point: Position, velocity, acceleration, deceleration Dual ported RAM 128 KB or 468 KB (enhanced memory option) Velocity-contouring: Velocity, acceleration, deceleration Communication modes Serial, CANbus, Ethernet Encoder trajectory position of one axis used to drive Dimensions 7.80 x 4.88 x .78 (19.8cm x 12.4cm x Electronic gearing: a second axis. Master and slave axes and gear ratio parameters 1.98cm) On-board amplifier voltage range 12 - 56V Filter modes On-board amplifier continuous DC Brush Motor: 14 ADC current output Scalable PID with Velocity, Acceleration feedforward, Integration limit, Offset bias, Dual Brushless DC Motor: 10 Arms biquad filter, Settable derivative sampling time, Output motor command limiting. Step motor: 9Arms