Hardware Specifications

Functions

• Based on a DSP microprocessor at 40 Mhz.
• P38 can signal any movement termination through an interrupt, that can be selected by jumpers between 2 different IRQ.
• P38 can generate a periodical interrupt, from every 100 µs up to 6 s.  Also this interrupt can be selected by jumpers between 2 different IRQ.
• Analog out for Servo motors: ± 10 Vdc (D/A converter resolution: 12 bits).
• P38 can read 2 incremental encoders (5...12 Vdc) with differential or single outputs, line-driver or open collector type, and a zero-signal.  On each encoder connector is available a +5 Vdc supply.
• Encoder maximum frequency:  1 MHz
• Reference proximity for calibration may be a signal at 12...30 Vdc, photo-coupled, PNP or NPN).
• Frequency output for Stepper motors: up to 32 KHz, or up to 8 KHz with x4 oversampling. Pulses width: 18 µs.
• Position Range: ± 2³¹ counts (32 bits)
• Speed Range: from 1/256 up to 256 counts/Tsample.
• Acceleration/Deceleration Range:
  from 1/65536 up to 1 count/Tsample²
• Digital I/O option: 16 In + 8 Out
  high-speed (typ. response time: 50 µs)
• Link with other P38 cards via dedicated synchronous serial high-speed bus
  (10 Mbit/sec).
• Up to 16 P38 cards on the same system
  (4 jumpers to set address), for a total of 32 physical axes

• Each axis type (DC, Brushless, Inverter, Stepper) may be configured via software.
• PID plus Feed-Forward parameters may be programmed.
• Sampling time of control algorithms may be set from 50 µs up to 2 ms.
• Continuous or in-position movements with acceleration/deceleration/speed fully programmable; these may be changed also while an axis is moving.
• An axis may be set in OPEN-LOOP.
• Position software limits of each axis are independently programmable.
• Reference proximity signal polarity may be configured (Positive or Negative edge).
• Encoder direction and speed reference are programmable via software.
• Position modulus for periodical or rotative axes.
• Scale factors for speed, acceleration, deceleration are programmable in the range 0...200%.
• Linear or circular interpolations, tangential conditions, electronic cams and gearing (electrical axis with variable follower ratio).
• Run-time interpolations on a plane.
• On board firmware auto-diagnostic functions (error conditions).
• Handling of fast events (I/O edge, position targets, start/stop of a movement, ...) and associated actions (I/O set/clear, start/stop of another movement, ...), with typical response time of 10 µs.
  (See tables below)

Main Events

Main Actions

• A target position is reached (of the axis itself or of an absolute encoder)
• Start/stop of a movement
• Positive/negative edge of a digital Input
• A message is received from synchronous serial high-speed bus
• .....

• Start of an absolute or relative axis movement
• Stop of a running movement
• Set/Clear of a digital Output
• Sending of an Interrupt to the main CPU
• Sending of a message on synchronous serial high-speed bus
• .....

Mechanical Specifications

Electrical Specifications

• Dimensions: Eurocard 100 x 160 mm
• Front panel: 4 TE
• 1   DIN    connector,   96 pins male
• 2 D-SUB connectors, 15 pins female
  (for connection to drivers and encoders)
• 1 connector 34 pins male
  (for P39 I/O expansion module)
• 1 connector 10 pins male
  (for serial high-speed link with P38 cards)

• Power requirements (from IPC bus):
   

  200 mA  on + 5  Vdc

    30 mA  on +12 Vdc

    10 mA  on  -12 Vdc