MESA PC/104 MOTION CONTROL CARDS

3C20 Stand alone 100W Single Axis Servo motor controller

The MESA 3C20 is a single axis 100W smart servo motor controller on a 2"x2" PCB. The 3C20 uses a serial RS422/RS485 host interface. The 3C20 is command compatible with SoftDMC, allowing the same position and velocity control modes and a trapeziodal profile modes. The HBridge uses current feedback, allowing torque control modes. The 3C20 will drive brush type servo motors up to 50 V and 2A. Logic and 5V encoder power is provided by a local step down regulator from motor power, simpifying 3C20 wiring. In addition to the encoder inputs (A,B,Index), motor drive output, and limit switch input, the 3C20 has 3 analog inputs, 2 high current (500 mA up to 50V) digital outputs and 2 Digital inputs. The 3C20 uses a DSP and supports sample rates up to 20 KHz and quadrature encoder count rates up to 2 MHz.

DATA SHEET --- MANUAL --- SUPPORT SOFTWARE ---

4I34M FPGA based Anything I/O card - with motor control firmware

The MESA 4I34M is a general purpose FPGA based programmable I/O card for the PC/104 bus (See parallel card info). Included with the 4I34M are configurations for 2 different types of servo motor controllers, an 8 channel host based servo motor controller, and a 4 or 8 channel DSP based servo motor controller with the DSP built into the FPGA (SOFTDMC) . Both motor controllers have 32 bit quadrature input position counters and PWM generators per channel. The DSP based motor controller supports 4 or 8 axis simultaneous operation, ramp-up-slew-ramp-down motions, PID+F (feed forward) tuning parameters support for brush, stepper and 3 phase BLDC motors and up to 30 KHz sample rate. A separate manual for the DSP based motion controller (SOFTDMC manual) is available here. The host based servo motor controller is ideal for experimenting with servo feedback motion systems, since all operating software is accessible. All 4I34M motor controllers are pin compatible with 7I25, 7I27, the new low cost 7I30/7I32 H-Bridges, and the 7I33 analog servo amp interface. The 4I34M uses two 50 pin connectors with I/O module rack compatible pin outs and interleaved grounds.

DATA SHEET --- MANUAL(4I34)---SUPPORT SOFTWARE --- SOFTDMC MANUAL

4I65 FPGA based PC104-PLUS Anything I/O card

The MESA 4I65 is a general purpose programmable I/O card for the PC/104-PLUS bus. The 4I65 uses a 200K gate Xilinx FPGA for all logic, so it is truly an Anything I/O card. The FPGA is down loadable from the PC/104-PLUS bus side, allowing creation of almost any kind of specialized I/O function, even including micro-controllers in the FPGA. Several pre-made functions are provided, including a 12 channel host based servo motor controller, a 4 or 8 channel micro-controller based servo motor controller (SoftDMC), and a 8 channel, 32 bit timer counter card capable of running at 100 MHz. VHDL source is provided for all examples. All I/O bits are 5V tolerant and can sink 24 mA. Pullup resistors are provided for all pins so that they may be connected directly to opto-isolators, contacts etc. The 4I65 has 72 I/O bits available on three 50 pin connectors, all connectors use I/O module rack compatible pin outs. Several I/O interface daughter cards are available for the 4I65. These cards include a 4 axis 3A Hbridge, a 2 Axis 3A stepper motor driver, an analog servo amp. interface, an RS-422/485 interface, and a debug LED card.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE --- SOFTDMC MANUAL

7I60 FPGA based standalone Anything I/O card

The 7I60 is a standalone (no bus) version of the FPGA based Anything I/O card series. It provides 96 I/O bits and 4 serial ports. There are 2 RS-232 ports and 2 RS- 485 ports. One of the RS-232 serial ports is used for downloading initial configurations to the on-card Flash EEPROM for FPGA configuration, the other ports can be used for any purpose. The 96 I/O bits are available on four 50 pin connectors, 24 bits per connector. The 50 pin connectors have I/O module rack compatible pin outs. The connector pinout uses interleaved grounds for lower crosstalk and controlled impedance. Socketed pull-up resistor networks (or optional termination networks) are provided for all I/O bits. PwrGood, Done, Init and status LEDs are provided for debugging puposes as are 8 FPGA driven LEDs and a FPGA driven beeper. Several I/O interface daughter cards are available for the 7I60. These cards include a 4 axis 3A Hbridge, a 2 Axis 3A stepper motor driver, an analog servo amp. interface, an RS-422/485 interface, and a debug LED card. 2 daughter cards can plug directly onto the 7I60. Many IO configuration files are provided with the 7I60 including simple remote I/O, smart remote I/O, 4 and 8 axis servo motion control, 4 and 8 axis microstepping stepper motor control, multiple channel PWM generator, quadrature counters and more. VHDL source is provided for all configurations. 2 FPGA system clocks are provided: a 50MHZ Crystal and a 25, 33, 50, 66, 80 MHz PLL. The 7I60 uses a 200K gate Xilinx SpartanII FPGA. Free development tools for The SpartanII are available (Xilinx WebPack) from Xilinx s web site.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE --- SOFTDMC MANUAL

5I20 FPGA based PCI Anything I/O card

The MESA 5I20 is a general purpose programmable I/O card for the PCI bus. The 5I20 uses a 200K gate Xilinx FPGA for all logic, so it is truly an Anything I/O card. The FPGA is down loadable from the PCI bus side, allowing creation of almost any kind of specialized I/O function, even including micro-controllers in the FPGA. Several pre-made functions are provided, including a 12 channel host based servo motor controller, a 4 or 8 channel micro-controller based servo motor controller (SoftDMC), and a 8 channel, 32 bit timer counter card capable of running at 100 MHz. VHDL source is provided for all examples. All I/O bits are 5V tolerant and can sink 24 mA. Pullup resistors are provided for all pins so that they may be connected directly to opto-isolators, contacts etc. The 5I20 has 72 I/O bits available on three 50 pin connectors, all connectors use I/O module rack compatible pin outs. Several I/O interface daughter cards are available for the 5I20. These cards include a 4 axis 3A Hbridge, a 2 Axis 3A stepper motor driver, an analog servo amp. interface, an RS-422/485 interface, and a debug LED card.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE --- SOFTDMC MANUAL

5I21 FPGA based PCI RS-422/RS-485 I/O card

The MESA 5I21 is a programmable serial interface card for the PCI bus. The 5I21 is designed for applications using RS-422 and RS-485 interfaces. The 5I21 can support up to 12 full duplex RS-422 or half duplex RS-485 serial links with baud rates up to 10 M baud. The 5I21 uses a 400K gate Spartan3 FPGA and a bus mastering PCI bridge for high performance. Since all serial logic is FPGA based, almost any RS-422/RS485 protocol can be supported. The I/O connector is a 68 pin high density type compatible with standard 100 ohm differential cables. On card serial line termination includes idle line pullups and pulldowns to guarantee a valid undriven input state. The 5I21 is suitable for high performance motion control systems, Industrial I/O, Custom real time distributed I/O, time code generation, supporting legacy hardware, and almost any high speed serial interface application that requires a flexible, high performance, universal serial interface card.

DATA SHEET --- MANUAL ---SUPPORT SOFTWARE

7I30 Quad 100 Watt H-bridges for 4I27,4I34,4I65,5I20,7I60

The 7I30 is a 3A, 36V 4 channel H-bridge motor driver for the 4I27, 4I34, 4I65, 5I20 and 7I60 motion controllers. They use high efficiency synchronous rectifying drivers, eliminating the need for heat sinks. They connect to the motion controller card with a 50 conductor flat cable and have AMP Mini Mate-N-Lock connectors for motor drive and encoder/index connections. Each channel has a selectable 3A or 1A current limit and can operate in fast decay or slow decay mode. Input RC filters and Schmitt triggers are provided for encoder and index signals. The 7I30 is available with 50 pin male header for use with flat cable connection to 4I27, 4I34, 4I65, 4I68, 5I20, 7I60 or a 50 pin female header on the reverse side for use as a 7I60 daughter card. A 2 channel version (7I30-2) is available for use with the 4I27.

DATA SHEET --- 7I30 MANUAL

7I32 Dual 1/2 to 3A stepper driver

The 7I32 is a 3A, 36V 2 channel current feedback microstep (up to 256 uSteps/ step) capable stepper motor driver for the Anything I/O series of FPGA based I/O cards. They use high efficiency synchronous rectifying drivers, eliminating the need for heat sinks. They connect to the motion controller card with a 50 conductor flat cable and have AMP Mini Mate-N-Lock connectors for step motor drive and encoder/index connections. Input RC filters and Schmitt triggers are provided for encoder and index signals. The 7I32 is available with 50 pin male header for use with flat cable connection to 4I34, 4I65, 4I68, 5I20, 7I60 or a 50 pin female header on the reverse side for use as a 7I60 daughter card.

DATA SHEET --- 7I32 MANUAL

7I33/7I33T Quad Analog servo interface

The 7I33 is a 4 axis analog servo interface intended for operation with MESAs Anything I/O cards when used for motion control applications. The 7I33 takes the PWM and direction signals from the Anythng I/O card and converts them to +- 10V analog output voltages for direct connection to analog input servo amplifiers. The 7I33 also conditions the encoder input signals with input filters for TTL inputs or a RS-422 recievers for differential encoder inputs. The controller connection is a 50 pin header that matches the pinout of the 4I34M, 4I65, 4I68, 5I20 and 7I60 Anything I/O cards. Another 50 pin header is used for servo amp/encoder connections. The -T version uses 3.5 mm screw terminal compatible plugs for motor I/O.

DATA SHEET --- 7I33 MANUAL

7I37/7I37T Isolated I/O card

The 7I37 is an 8 output, 16 input isolated I/O card. The 7I37 provides 8 Isolated 48VDC 1A output drivers. All output drivers are low saturation voltage MOSFETS for low power dissipation. Each of the 8 output switches is isolated from the others, allowing high side, low side, push-pull and other output switch configurations. The 16 opto isolated inputs will operate with input voltages from 5 to 24 V. Reverse protection diodes are provided to allow use with AC inputs. The 7I37 is compatible with the 4I24M, 4I24H, 4I34M, 4I65, 4I68, 5I20, 5I22, 5I23, 7I43 and 7I60 Anything I/O cards. The -T version uses 3.5 mm screw terminal compatible plugs for isolated I/O.

DATA SHEET --- 7I37 MANUAL

7I39 Dual 250W 3 Phase BLDC driver

The 7I39 is a Dual 3 Phase bridge driver for Brushless 3 phase motors. The 7I39 is available in low voltage and high voltage models. The low voltage model is rated at 10A 30 VDC per axis while the high voltage model is rated at 5A 50 VDC per axis. Each 3 Phase bridge on the 7I39 has selectable overcurrent limits of .75 times and 1.5 times rated current. An overvoltage clamp protects the 7I39 from inductive voltage surges, reducing the need for large motor supply capacitors. Low on resistance MOSFETs and high performance gate drivers give the 7I39 high efficiency. Gate power is derived from logic side power so that unlike other bridges, the drivers are functional all the way down to 0V motor power supply, allowing safe and easy setup and testing. Encoder and Hall effect inputs are RC filtered and processed through a Schmitt trigger before being forwarded to the FPGA. The 7I39 is compatible with the 4I34M, 4I65, 4I68, 5I20 and 7I60 Anything I/O cards.

DATA SHEET --- 7I39 MANUAL

7I40 Dual 400W driver

The 7I40 is a Dual H bridge driver for two brush type motors or other inductive loads. The 7I40 is available in low voltage and high voltage models(7I40L and 7I40H). The 7I40L is rated at 10A 40 VDC per axis while the 7I40H is rated at 7A 80 VDC per axis. Each bridge on the 7I40 has selectable overcurrent limits of .75 times and 1.5 times rated current. An overvoltage clamp protects the 7I40 from inductive voltage surges, reducing the need for large motor supply capacitors. Low on resistance MOSFETs and high performance gate drivers give the 7I40 high efficiency and low dead time to support switching rates up to 100 KHz. Gate power is derived from logic side power so that unlike other bridges, the drivers are functional all the way down to 0V motor power supply, allowing safe and easy initial setup and testing. The 7I40 also includes encoder input conditioning. Encoder inputs can be either single ended or differential. The 7I40 is compatible with the MESA's 4I27 or the 4I34M, 4I65, 4I68, 5I20, 5I22 and 7I60 Anything I/O cards with SoftDMC or HostMot firmware, or can be used with a customer supplied controller.

DATA SHEET --- 7I40 MANUAL

SoftDMC Digital Motion Control firmware for FPGA based I/O cards

The SoftDMC firmware converts any of our FPGA based I/O cards (4I34M, 4I65, 4I68, 5I20, 5I21, 7I60) to a high performance DSP based motion control system. The SoftDMC system supports up to 8 axis simultaneous motion. Features include Position and Velocity control modes, trapezoidal motion profiles, cubic motion profiles, 32 bit position range, 32 bit acceleration and velocity parameters, high sample rates (>60 KHz for 4 axis, >30 KHz for 8), two quadrature encoder inputs per axis for dual feedback systems, 32 bit gearing, velocity, acceleration and friction feed forward terms in PID loop, breakpoint/event logic for flexible real time (within one sample period) handling of internal and external events (such as limit switches), efficient FIFOed host interface with multichannel command queueing, and much more. SoftDMC supports Brush motors, 2 phase stepper motors in closed loop and open loop modes, and 3 phase AC and DC brushless motors in closed and open loop modes. The SoftDMC firmware is included free with all Mesa FPGA based cards and can be licensed for a nominal charge for non-Mesa cards and embedded FPGA designs. SoftDMC is an ideal replacement for LM629 and other ASIC based motion controllers, assuring long term availability and ease of modification due to its open FPGA based design.

SOFTDMC MANUAL

7I25/7I27 150/400 Watt H-bridges for 4I27 and FPGA cards

The 7I25 and 7I27 are 2 channel H-bridge motor drivers for the 4I27, 4I34M, 4I65 or 5I20 motor controller card. They connect to the motor controller card with a 50 conductor flat cable and have screw terminals for motor power and motor connections. Encoder and index input connectors are also made available on the 7I25/7I27. Both H-bridges have overcurrent and surge protection. The 7I25 is rated at 3A continuous per channel and 6A peak at 48V maximum input voltage. The 7I27 is rated at 10A continuous and 25A peak at 45V maximum input voltage.

7I27 DATA SHEET --- 7I27 MANUAL 7I25 MANUAL

4I27A 2 axis servo motor controller card (analog out)

The 4I27A is a low cost, LM628 based 2 axis DC servo motor control system implemented on a stackable PC/104 bus card.The 4I27A is designed for high performance positioning systems using DC servo motors with quadrature shaft encoders. The per axis output of the is a +- 10 volt analog signal with 12 bits of resolution. Quadrature encoder and index inputs use balanced RS-422 levels for noise immunity. Control signals for each axis include 3 auxiliary I/O bits. These I/O bits are used for over-temperature shutdown detect and servo amplifier enable. Eight general purpose I/O bits are available for any application use. The LM628's used on the 4I27A are high performance digital processors specifically designed for motion control.The LM628 can execute a ramp-up, slew, and ramp-down motion sequence without host processor intervention. Host interrupts can be generated at end of motion, position breakpoints, index pulse, or in response to various error conditions. Interrupts are or'ed on the 4I27A card, so that only one system interrupt is used. The IRQ line used can be software selected from any of the 11 available AT bus interrupts. The 4I27A requires only +5V power, as all analog output power is generated on card. A digital PID filter is used to set loop feedback parameters for stability and optimum performance. Velocity, target position and filter parameters may be changed during motion. Demonstration software includes examples of 2 axis position mode operation, velocity mode operation, and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response. Source code is provided for all demonstration software. A PWM output version of the 4I27A is available as the 4I27.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE

4I27 2 axis servo motor controller card (PWM)

The 4I27 is a low cost, LM629 based 2 axis DC servo motor control system implemented on a stackable PC/104 bus card. The 4I27 is designed for high performance positioning systems using DC servo motors with quadrature shaft encoders. The per axis output of the 4I27 is an 8 bit sign-magnitude PWM signal that can drive H-bridge type servo amplifiers directly. Quadrature encoder and index inputs are conditioned with RC filters and Schmitt triggers for noise immunity. RC filter time constants can be changed by replacing a plug-in resistor network. Control signals for each axis include 3 auxiliary I/O bits. These I/O bits are used for over-temperature shutdown detect and H-bridge enable when the 4I27 is used with the 7I25 or 7I27 H-bridge drivers. Eight general purpose I/O bits are available for any application use. The LM629's used on the 4I27 are high performance digital processors specifically designed for motion control. The LM629 can execute a ramp-up, slew, and ramp-down motion sequence without host processor intervention. Host interrupts can be generated at end of motion, position breakpoints, index pulse, or in response to various error conditions. Interrupts are or'ed on the 4I27 card, so that only one system interrupt is used. The IRQ line used can be software selected from any of the 11 available AT bus interrupts. A digital PID filter is used to set loop feedback parameters for stability and optimum performance. Velocity, target position and filter parameters may be changed during motion. The clock speed of the LM629's can be lowered to accommodate large motors that require lower PWM chopping frequencies. Demonstration software includes examples of 2 axis position mode operation, velocity mode operation, and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response. Source code is provided for all demonstration software. An analog out version of the 4I27 is available as the 4I27A.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE

4I28 4 axis servo motor controller card (PWM)

The 4I28 is a low cost, LM629 based 4 axis DC servo motor control system implemented on a stackable PC/104 bus card. The 4I28 is designed for high performance positioning systems using DC servo motors with quadrature shaft encoders. The per axis output of the 4I27 is an 8 bit sign-magnitude PWM signal that can drive H-bridge type servo amplifiers directly. Quadrature encoder and index inputs are conditioned with RC filters and Schmitt triggers for noise immunity. Sixteen general purpose I/O bits are available for any application use. The LM629's used on the 4I28 are high performance digital processors specifically designed for motion control. The LM629 can execute a ramp-up, slew, and ramp-down motion sequence without host processor intervention. Host interrupts can be generated at end of motion, position breakpoints, index pulse, or in response to various error conditions. Interrupts are or'ed on the 4I28 card, so that only one system interrupt is used. A digital PID filter is used to set loop feedback parameters for stability and optimum performance. Velocity, target position and filter parameters may be changed during motion. Demonstration software includes examples of 4 axis position mode operation, velocity mode operation, and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response. Source code is provided for all demonstration software.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE

4I36 8 channel quadrature counter card

The 4I36 is a stackable PC/104 card with eight 32 bit up/down counters with quadrature count inputs and per channel index inputs. The 4I36 is intended for robotic, motor control, measurement, and instrumentation applications. The 4I36 has selectable TTL or RS-422 levels on its quadrature and index inputs. TTL or RS-422 operation is jumper selectable in groups of two channels. The TTL inputs have pullup resistors and RC / Schmitt filtering. The differential RS-422 inputs are suited for longer cable lengths and have optional termination. 24 general purpose I/O bits capable of sinking 24 mA are provided control applications. The encoder connectors are compatible with the 4I30, and the I/O connector is compatible standard I/O module racks. The 4I36 counters can count in normal quadrature mode (4X) or up/down mode. Digital filtering is used on encoder inputs to reject input noise. The 4I36 counters may cleared individually, or all counters may be cleared simultaneously. Each counter has a option to be cleared by either the rising or falling edge of the index signal. Maximum count rate of the 4I36 with TTL inputs is 4 million counts per second. Maximum count rate with RS-422 inputs is 10 million counts per second. Count range is -2,147,483,648 to +2,147,483,647 or 0 to 4,294,967,295. Any counter may be configured to provide a timing reference for velocity calculations instead of quadrature input. This timing reference is a 32 bit up counter running at 48 MHz +- .01%. The 4I36 is a 16 bit card and uses an index register to access the many registers on the chip, the index register has an auto-increment function that allows all 8 of the 32 bit counters to be read in only 17 16 bit I/O read instructions. The 4I36 uses a FPGA chip for all counting and I/O so can be easily upgraded or modified in the field for specific requirements. The FPGA configuration flash memory can be updated from the host, no special cable or adapters are required.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE

4I30 4 channel quadrature counter card

The 4I30 is a stackable PC/104 card with four 32 bit up/down counters with quadrature count inputs and per channel index inputs. The 4I30 is intended for robotic, motor control, measurement, and instrumentation applications. The 4I30 has selectable TTL or RS-422 levels on its quadrature and index inputs. TTL or RS-422 operation is jumper selectable in groups of two channels. The TTL inputs have pullup resistors and RC / Schmitt filtering. The differential RS-422 inputs are suited for longer cable lengths and have optional termination. Each time a logic transition occurs at one of the quadrature inputs, the count is incremented or decremented, providing a resolution of four times the line count of the encoder used. The 4I30 counters may cleared individually, or all counters may be cleared simultaneously. Each counter has a separate programmable count enable/disable with external index input. The 4I30 can be programmed so that the count is synchronized with the external index signal. Index signal polarity is jumper selectable. Maximum count rate of the 4I30 is 1.5 million/second. Count range is -2,147,483,648 to +2,147,483,647 or 0 to 4,294,967,295. One counter may be configured to provide a timing reference for velocity calculations instead of quadrature input. This timing reference is a 32 bit up counter running at 500 KHz +- .01%.

DATA SHEET --- MANUAL---SUPPORT SOFTWARE

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