The MOTENC-100 PCI board is designed for PC based real-time systems controlling machines that require precision motion control. These include, CNC machines, Routers, Pick and Place machines, Robots and so on. The board has all the necessary components to implement a precision digital feed back control system. Analog outputs from the board drive the Motor Amplifiers using industry standard ±10V interface. The position feedback is generated by the quadrature encoder counters using 32-bit resolution. Utilizing the full 32-bit PCI bus, the board allows reading the 32-bit counter in just one read cycle. The Analog output settling time is just under 5 micro-sec and the CPU read-write cycle times are within 500 nano-sec. This allows the PID feedback loop update rate of 20KHz or more. The board has digital I/O to connect home, limit, and other switches and relays to implement a complete control system.
The MOTENC-100 board is currently tested on EMC version BDI 4.2 and the older BDi-Live rc46. EMC (i.e. Enhanced Machine Control) is a software system for computer control of machine tools such as milling machines. EMC is free software with open source code. More info available at www.LinuxCNC.org. EMC software runs under Linux OS with RTAI or RTLinux realtime extensions.
EMC BDI 4.2 Update Steps:
DAC/Encoder/IO test/verify program
- Install BDI-4.2 CD and then follow steps available at the following link to get latest code. http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?BDI-4_Install. Do not use existing EMC folder that gets installed by the CD installation. Instead, download code from CVS in a new EMC folder in your home directory.
- Overwrite the existing vital.c extvitalmot.c and vital.h in src/emc/drivers/vital folder from vital-bdi4.2update1.zip
- copy vital.ini to emc folder from vital-bdi4.2update1.zip
- Compile and rebuild EMC tree as explained in the above link.
- Run EMC from a terminal with the following command:
./generic.run -ini vital.ini
- Analog Outputs: ±10V, 13-Bit Resolution, 8-Channels
- Encoders: 8 Differential Quadrature Encoder Inputs. 32-Bit Resolution
- Analog Inputs: Range +/-5Volts, 14-bit Resolution. 8-Channels
- 2 Mhz Max encoder frequency. The encoder resolution is multiplied by 4 in hardware. (e.g. 500 count quadrature encoder produce 2000 count resolution.)
- I/Os: 100 Digital I/O (68 Inputs & 32 Outputs) in four 50-pin headers. Opto-22 compatible
- +5V available on headers, Fused (Resetable), MAX current 2A.
- Programmable Timer Interrupts
- Watch Dog Timer
- Hardware ESTOPs (Jumpers on board to override if not needed)
- Filters at Digital Inputs remove High frequency noise
- Hardware Board ID for multiple board applications
- EMC ready