MESA ELECTRONICS 4I27A MOTOR CONTROLLER
FEATURES:
2 axis DC servo motor controller
31 bit position range
Programmable digital PID filter
+-10V full scale analog output
Low Power (less than 1 watt)
Position & velocity control modes
5V only operation
Small size
2 year warranty
Driver software included
The 4I27A is a low cost, LM628 based 2 Host interrupts can be generated at end
axis DC servo motor control system of motion, position breakpoints, index pulse,
implemented on a stackable PC/104 bus or in response to various error conditions.
card. The 4I27A is designed for high Interrupts are or'ed on the 4I27A card, so
performance positioning systems using DC that only one system interrupt is used. The
servo motors with quadrature shaft IRQ line used can be software selected from
encoders and analog input servo amplifiers. any of the 11 available AT bus interrupts.
The per axis output of the is a +- 10 volt The 4I27A requires only +5V power, as
analog signal with 12 bits of resolution. all analog output power is generated on
Quadrature encoder and index inputs card.
use balanced RS-422 levels for noise A digital PID filter is used to set loop
immunity. feedback parameters for stability and
Control signals for each axis include 3 optimum performance. Velocity, target
auxiliary I/O bits. These I/O bits are used for position and filter parameters may be
over-temperature shutdown detect and changed during motion.
servo amplifier enable. Eight general Demonstration software includes
purpose I/O bits are available for any examples of 2 axis position mode operation,
application use. velocity mode operation, and a simple filter
The LM628's used on the 4I27A are high tuning program that allows dynamic filter
performance digital processors specifically coefficient modification while providing a
designed for motion control. The LM628 can graphic display of the servo system step
execute a ramp-up, slew, and ramp-down response. Source code is provided for all
motion sequence without host processor demonstration software. A PWM output
intervention. version of the 4I27A is available as the 4I27.
MESA 2/94
MESA ELECTRONICS 4I27A MOTOR CONTROLLER
LM629 COMMAND SUMMARY: I/O CONNECTOR PINOUT:
Pin# function Pin# function
Reset Load Trajectory 1 Motor Y QB 2 Motor Y /QB
Define Home Start Motion 3 Motor Y QA 4 Motor Y /QA
Set Index Position Read Status Byte 5 Motor X QB 6 Motor X /QB
Interrupt on Error Read Signals Reg. 7 Motor X QA 8 Motor X /QA
Stop on Error Read Index Pos. 9 Motor Y Idx 10 Motor Y /Idx
Set Breakpoint Absolute Read Desired Pos. 11 Motor X Idx 12 Motor X /Idx
Set Breakpoint Relative Read Real Pos 13 Motor Y Aout 15 Motor X Aout
Mask Interrupts Read Desired Vel. 17 NC 19 NC
Reset Interrupts Read Real Vel. 21 /Motor Y En 23 /Motor X En
Load Filter Parameters Read Integ. Sum. 25 Motor Y Sns 1 27 Motor X Sns 1
Update Filter 29 Motor Y Sns 0 31 Motor X Sns 0
33 I/O bit 7 35 I/O bit 6
37 I/O bit 5 39 I/O bit 4
(All commands may be executed during motion.) 41 I/O bit 3 43 I/O bit 2
45 I/O bit 1 47 I/O bit 0
49 +5 volt power
Even numbered pins 14 through 50 are grounded,
SPECIFICATIONS: Min Max Units Notes
POWER REQUIREMENTS:
Supply voltage 4.5 5.5 V
Supply current ---- 200 mA No external load
ANALOG OUT:
Output Voltage -10 +10 V @ 5K minimum load resistance
RS-422 INPUTS:
Input sensitivity --- 200 mV Differential
Common mode range --7 +7 V
Termination resistance 120 140 Ohms On card termination
I/O LOADING: (82C55 I/O port)
Input logic low -.5 .8 V
Input logic high 2.0 5.5 V
Output low ---- .4 V 2.5 mA sink
Output high 3.0 ---- V 2.5 mA source
ENVIRONMENTAL:
o
Operating temp. range -C version 0 +70 C
o
Operating temp. range -I version -40 +85 C
Relative humidity 0 90 Percent Non-Condensing
ORDERING INFORMATION: MESA 4I27A Add -I for industrial temperature version
MESA ELECTRONICS -- 4175 Lakeside Drive, Suite 100, Richmond, CA 94806
PHONE (510) 223-9272 -- FAX (510) 223-9585
