Performance Motion Devices PR8358120, User Manual

Page: 34 / 103

Operation
34
Prodigy/CME PC/104 User’s Guide
2
2.2 Magellan Motion Processor
Functions
The Magellan Motion Processor block pictured in Figure 2-1 on page 32 forms the core of Prodigy cards. Here is an
overview of the functions provided, or managed, by the Magellan Motion Processor on the Prodigy/CME PC/104
cards:
• Profile generation
• Motor output signal generation (PWM, analog, and pulse & direction)
• Quadrature encoder processing and index capture
• DC brush and brushless DC servo loop closure
• Breakpoint processing
• AxisIn and AxisOut signal processing
• Trace
• Motion error detection, tracking windows, and at-settled indicator
• Limit switches
• Access to various on-card resources such as parallel I/O and dual-port trace & profile RAM
The Magellan Motion Processor interfaces with motion hardware components such as feedback encoders, motor out
signal generation hardware, and others, directly through its own pin connections, and through various signal
conditioning circuitry. See Section
2.7, “Signal Processing and Hardware Functions,” on page 52 for a complete
description of on-card hardware interconnections and signal management.
The Magellan instruction set is very flexible and powerful. The following example, which would be used to set up and
execute a simple trapezoidal profile, illustrates just a small part of the overall command set:
Prodigy/CME card users who write their own software drivers from scratch will need to become familiar with the
details of the PRP system and other aspects of card access. The majority of users however will prefer to use C-
Motion or VB-Motion, which already encapsulate the details of the card access protocol, and provide convenient
and easy to use C and BASIC-callable routines to access the card. For more information see the
Prodigy/CME Pro-
grammer’s Reference.
SetProfileMode Axis1, trapezoidal // set profile mode to trapezoidal for axis 1
SetPosition Axis1, 12345 // load a destination position for axis 1
SetVelocity Axis1, 223344 // load a velocity for axis 1
SetAcceleration Axis1, 1000 // load an acceleration for axis 1
SetDeceleration Axis1, 2000 // load a deceleration for axis 1
SetUpdateMask Axis1, Profile // specify that an update of profile parameters only
// is to occur
Update Axis1 // Double buffered registers are copied into
// the active registers, thereby initiating the move