OMS MAXnet, User Manual

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APPENDIX C SPECIFICATIONS
MAXnet User’s Manual
C.
APPENDIX C
SPECIFICATIONS
DESCRIPTION
The MAXnet is an Ethernet/RS-232
controller that is capable of up 10 axes of
control. Each axis can be configured as an
open loop stepper, a closed loop stepper, or
a servo axis. The MAXnet is available in
several different models that support a
different number of axes.
The MAXnet is powered by a PowerPC
processor. This high performance
processor provides a 64-bit Floating Point
processor and is clocked at 266MHz. This
provides the MAX with the pure processing
power to update every signal of the
controller, i.e. I/O bits, direction, limits, etc.,
at rates up to 122
μ s.
Every axis includes ded/- over-travel
limit inputs, a home input, and an auxiliary
output. The home and over-travel limit
inputs are TTL level inputs. The MAXnet
supports 8 general purpose digital I/O
signals on the MAXnet controller and 8
general purpose digital I/O signals on the
MAXnet expansion controller. In addition it
has up to 4 general purpose analog inputs
(2 on the MAxnet controller and 2 on the
MAXnet expansion controller) that can be
used to sense Pressure Transducers, Dial
Switches, etc. Analog inputs can also be
used to control velocity override. These
analog inputs have 16-bit of resolution with
+/-10 VDC input. There is one general
purpose analog output that uses a 16-bit
resolution DAC with +/- 10 VDC output.
Each axis has servo output signal capability;
configured as a +/- 10V or 0-10V signal and
is driven by a 16-bit DAC. The servo control
loop is a PID filter with feedforward
coefficients and an update rate up to 122
μ s.
The servo output of axes not configured as
a servo axis is available as a general
purpose analog output. The step pulse is a
TTL level, 50% duty cycle square wave that
supports velocities of 0 through 4,194,176
pulses per second. Encoder feedback
functionality supports quadrature encoders
up to 16 MHz and is used as the servo
feedback, as feedback for the stepper axes
or as independent position feedback.
Encoder feedback is also used to provide
slip and or stall detection.
The MAXnet has many user-definable
parameters that can customize the
controller’s behavior. These parameters can
be conveniently stored in Flash so that the
user-defined behavior will be automatically
preset at each power-up.
PROGRAMMING
MAXnet motion controllers are easily
programmed with ASCII character
commands through an extensive command
structure. These commands are combined
into character strings to create sophisticated
motion profiles with features of I/O and other
functionality. A separate FIFO command
queue for each axis is used to store the
commands once they are parsed by the
MAXnet. The commands are executed
sequentially, allowing the host to send a
complex command sequence and attend to
other tasks while the MAXnet manages the
motion process. These command queues
store 2559 command values and include a
command loop counter which allows
multiple executions of any queued
commands.
All commands are sent to the controller as
two or three character ASCII strings. Some
of these commands expect one or more
numerical operands to follow. These
commands are identified with a ‘#’ after the
command. The ‘#’ indicates a signed
integer input parameter or a signed fixed
point number of the format ##.# when user
units are enabled. User Units define,
distances, velocity and acceleration
parameters and may be inputted in inches,
millimeters, revolutions, etc.
Synchronized moves may be made by
entering the AA or AM command mode.
This form of the command performs a
context switch that allows entering
commands of the format
MR#,#,#,#,#;
The order of axes is always X, Y, Z, T, U, V,
R, S, W, and K.