Specifications

Hardware
MC4000-PRO Overview
Digital Signal Processor
Nonvolatile Memory
Quadrature Encoders
Analog
Digital
SYNC and WDOG
The is a DSP-based motion control board that
communicates with the Host PC through the PCI bus. The card
supports data rates with the host PC as high as 7.2 MBytes/s . The
core of the MC4000-PRO is its 32-bit floating-point DSP
processor. The standard memory configuration is 48 bits wide and
includes 20K words of on-chip SRAM, 256K words of on-board
SRAM and 330Kwords of FLASH memory.
The 2 external connectors are arranged into
with each group having 30 physical contacts.
The DSP is Analog Devices’ 32-bit SHARC
processor running at 40MHz with 20K words of on-chip memory.
Other SHARC DSPprocessors available include:
Permanent memory storage for stand-alone operations is
provided. The board comes with 330K words of FLASH memory
for storage of machine parameters and programs.
The quadrature encoder inputs support single-ended and
differential encoder signals. +5V and 12V are available for
encoder power. The standard encoder input frequency is 10 MHz
edge rate after 4X decoding (20 & 40MHz options are available).
Each group has a 14-bit (65,536 Levels) differential analog input
and two 16-bit (16,384 Levels) outputs. These signals sample at a
rate of 88kHz. Each has the following:
Each group has 6 inputs, 2 outputs and 4 high-speed lines for a
total of 48 Digital I/O lines. Unreserved lines can be programmed
to meet OEM requirements. Each has the following:
The SYNC signal can be passed between multiple
boards for synchronization of motion control or data
acquisition. If the WDOG times out, the user can program any
number of discrete events to take place (ex. emergency stop).
MC4000-PRO
MC4000-PRO’s
ADSP-21061
group
group
MC4000-
PRO
four groups,
I/O Type
Encoders
Analog In
Out
Digital In
Out
High-speed
I/O
Number
4
4
8
24
8
16
Details
- A, , , , and Z*
- ADC differential line
- DAC
- user programmable
- user programmable
- Stepper outputs, auxiliary
encoders and registration
B Z A* B*
Linkport
Computer Compatibility
Digital Signal Processor and Memory
SYNC
Programmable Interval Timer
Watchdog Timer
Quadrature Encoder Input Channels
Software
MotionSuite
MotionSuite-PRO
Specifications
A ten-pin connector contains the WDOG and SYNC signals,
along with the Linkport connections, enabling communication
between two separate DSPs directly (transfer
rates up to 160Mbits/sec). This is an advanced feature available
with theADSP-21060 orADSP-21062 options.
Two development software suites are available for the MC4000.
These are (i) MotionSuite and (ii) MotionSuite-PRO.
is offered for Microsoft Windows operating
systems. This library provides functions for reading and writing
the board’s registers.
is a GUI application program used to set up, and
tune motion control for the MC4000. Evaluate MotionTools for
free over the Internet. After downloading MotionTools you will
be able to control servomotors directly over the Internet. To learn
more visit http://www.pmdi.com.
high-level motion control C-library contains a set
of functions that accesses the services of PMDi’s DSP-based
motion control cards.
is a text-based file that sets motion control
parameters for use by the MCI-SoftLIB library.
MotionSuite-PRO provides all of the features and components of
MotionSuite, but adds the capability of programming at the DSP
level. It is distributed with the additional software components:
CMC-SoftLIB, LIBeRTy and SHARC-Trig.
is a comprehensive software library of C-
language routines for motion control application development.
is PMDi’s real-time, multi-tasking kernel for use
with Analog Devices’ SHARC DSP Processors.
is an optimized trigonometry C-library.
PCI Bus, 4.25in. high by 8.25in. long
Analog Devices’ ADSP-2106X SHARC DSP
128K words of 48-Bit on-board SRAM
330K words of 48-Bit on-board FLASH memory
Synchronizes DAC output, ADC and encoder input
SYNC generated by on-board timer or software
0.25 s to 512 seconds with 0.12 s resolution
Can generate SYNC signal and/or PC interrupts
3.85 s to 125ms
Forces DAC outputs to 0 Volts on timeout and digital output
to low for emergency shutdown
24-bit up-down counters. A,B,Z inputs, invertible for
phasing and universal index pulse, digitally filtered
MC4000-PRO
Register Access
MotionTools
MCI-SoftLIB
Initialization File
CMC-SoftLIB
LIBeRTy
SHARC-Trig
å
å
å
å
å
å
å
å
å
å
å
mm
m
PMDi
Precision MicroDynamics, Inc., #3 - 512 Frances Ave., Victoria, B.C., Canada, V8Z 1A1, Tel. [phone], Fax. [phone], Web. Http://www.pmdi.com
Digital I/O*
Inputs
Outputs
High-speed
Quantity
6
2
4
Typical Use
HOME, LIM-, LIM+
AmpEnable
Stepper Motor- Pulse or Dir,
Position Capture or Compare,
and Auxiliary A and B.
*TTL compatible (sink and source 10 mA)
Analog
Inputs
Outputs
Quantity
1
2
Name
ADC
DAC A and B
Resolution
14 bits
16 bits
Range
± 10V
± 10V
Other details
Linkports
Linkports
DSP Type
ADSP-21060
ADSP-21062
On-board SRAM
80K words
40K words