High-performance PC-based multi-axis motion control cards
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SYSTEMS
www.pbasystems.com.sg
P R E C I S I O N M O T I O N C O N T R O L C A R DMAXMOTION PA SERIES
DIGITAL SERVO CONTROLmulti-axis servo & stepper
PAGE 02
PBA Systems is an ISO certified company that designs and manufactures motion control products, including linear motor modules, voice coil modules, piezo
stages, large XYZ Theta stages and other special customized solutions.
Founded in 1999, PBA Systems continuously aims for technological breakthroughs and innovations, working to deliver
the best products to our customers while providing excellent service and uncompromising quality standards. For
enquiries on any of our products, email us at [email protected] or call us at +65 6576 6767
5 0 1 8 3 5 0 1 5 0 1 8 5 3 8 18
the leader in linear motors
motor modules servo drives motion control cards
software encoders & cables mechanical design& fabrication
+ +
+ + +
= complete solution
PAGE 03
GLOBAL SUPPORT
MAKING IT GOOD & MAKING IT CHEAP
FAST REACTION & SHORT LEAD TIME
PBA SYSTEMS products are well covered with world-wide distrbutors and local offices.
We are vertically integrated with factories in China that supply the motor magnets.South East Asian factories for machining and assembly.
We hold vast stocks of work in progress parts. We are equipped to accomodate highly customised designs.PBA staffs work around the clock to deliver goods on time.
BRANCH OFFICE
DISTRIBUTORS
global locations
USA
India
Israel
ItalySwitzerland
Germany
Korea
IndonesiaSingapore
MalaysiaThailand
Philippines
Taiwan
China
We reserve the right to make technical changes at any time without prior notice
S P E C I F I C A T I O N S
PAGE 04
MM PA-40S-0 / MM PA-40S-B The MaxMotion PA-40S-0 / PA-40S-B is designed for PC-based multi-axis motion control applications which require up to 4 axes of high performance analog or PWM servo control. General-purpose digital I/O and optional analog inputs are also available with this model.
Compact, powerful and economical PCI-bus motion controller Plug & Play half-length PCI-bus Universal card 64-bit floating point RISC CPU for superior performance, precision and dynamic range Flexible FPGA-based I/O architecture Up to 8 axes of high-performance closed-loop control 1-4 analog or PWM servo axes Multi-axis coordinated motion - interpolation, contouring, spline, master/slave, gearing Trapezoidal, S-curve and parabolic velocity profiles for smooth jerk-free motion User selectable 1, 2 or 4 KHz PID-VAFF servo loop update rate each axis (up to 4 axes) 16-bit analog servo command outputs for superior precision 20 million encoder counts/sec for high-speed/ high-resolution moves On-the-fly changes in trajectory, direction and PID values On-board multi-tasking and programmable interrupts free host PC for other tasks Consistent real-time behavior: Performance remains as specified no matter which features or axes are enabled Eight general-purpose 14-bit A/D input channels (optional) 60 user-assignable digital I/O channels Encoder inputs include encoder-failure detection circuitry for improved machine safety High-speed I/O for ultra-fast synchronization of motion and external events Sub-microsecond position capture (latch) inputs Encoder position compare (trigger) outputs (up to >1 MHz repeat rate) Custom features and task-optimized performance enhancements available upon request All I/O signals are differential or complementary twisted-pairs for superior noise immunity Flexible and fully software configurable I/O - no need to set any hardware jumpers Uses non-proprietary and widely-available low-cost SCSI cables & interconnect boards Fully programmable in C/C++/C#, Delphi, LabVIEW, Visual Basic and easy-to-use on-board command language Drivers for Windows 98/NT/2000/XP/Vista and Linux Powerful and flexible software software API is compatible with Max Motion Series Control Cards Includes a full suite of Windows installation, tuning, diagnostic and example programs with source code
Part Numbers Part Number Analog and/or PWM
Servo Axes (±10 VDC) (Servo)
Step/Dir. or CW/CCW Pulse Axes
(Stepper/Servo)
Encoder Channels (0-20 MHz)
Analog Inputs (14-bit)
MM PA-40S-0 4 0 4 0 MM PA-40S-B 4 0 4 8
M A K E S A D I F F E R E N C Ew w w. p b a s y s t e m s . c o m . s g
MaxMotion PA Series Precision Motion Control Card Multi-axis Servo and Stepper
We reserve the right to make technical changes at any time without prior notice
S P E C I F I C A T I O N S
PAGE 05
M A K E S A D I F F E R E N C Ew w w. p b a s y s t e m s . c o m . s g
MaxMotion PA Series Precision Motion Control Card Multi-axis Servo and Stepper
Specifications System Architecture
CPU: 64-bit floating-point RISC processor I/O interface: 150,000 gate FPGA OS: Real-time embedded multi-threading kernel
Form Factor
PCI-bus short-card (PCI 2.2 specification) Plug & play PCI Universal card (3.3 & 5V signaling)
Communication
33 MHz, 32-bit PCI-bus Universal interface High speed binary or ASCII communication via dual-ported RAM Supports PCI-bus interrupts to avoid polling Flexible user-defined interrupt conditions
Software & Programming
Programmable in C, C++, C#/.NET, Delphi, LabVIEW, Visual Basic Drivers for 32 & 64 bit Windows & Linux Full support for Microsoft .NET framework For real-time OS drivers (QNX, VxWorks, etc.) contact PBA Sytems Supports multi-threaded applications Motion Control API includes many useful utilities and sample programs
with source code Also programmable in native easy-to-use motion command language
(MCCL) Supports multi-tasking of MCCL user routines Includes Motion Integrator Windows software suite for easy installation,
tuning and diagnostics Software is compatible with Max Motion Series Control Cards All software is included at no extra charge
Motion Capabilities
4 axes of analog servo control Multi-axis independent point-to-point positioning Multi-axis synchronized & coordinated motion Multi-axis linear & circular interpolation High-resolution electronic gearing Position, velocity, gain and joystick (jog) modes Backlash compensation Position capture inputs and compare outputs for high-speed latching
and event triggering Custom motion capabilities available upon request
Trajectory Generator
1, 2 or 4 kHz trajectory update rate (software selectable) Trapezoidal, parabolic and S-curve velocity profiles Independent acceleration & deceleration Trajectory & PID parameters can be changed on-the-fly
Memory
16 MB Dynamic RAM 2 MB Flash ROM for non-volatile program storage
Kinematic Ranges
Position: 32 bit (± 2,147,483,647 steps) Velocity: 64 bit floating point (± 10208 encoder counts/sec2) Acceleration: 64 bit floating point (± 10208 encoder counts/sec2)
Servo Control Signals 4 axes of ±10V analog or PWM servo command Analog output resolution: 16-bits PWM output frequency: Software selectable
Position Feedback
4 quadrature incremental encoder channels w/index 20 MHz encoder count rate each axis Single-ended or differential (A+, A-, B+, B-, I+, I-) High-speed encoder failure detection circuitry Digital noise filtering 32-bit position resolution (± 2,147,483,647 counts)
Servo Filter
Proportional/Integral/Derivative (PID) with acceleration, deceleration & velocity feed forward
Analog & PWM axes: 1, 2 or 4 kHz loop rate each axis (software selectable)
I/O Signals
16 uncommitted bi-directional opto-isolated inputs with individually configurable supply & return: 5 to 24 Volts. (For ± limits, amp fault, etc.)
12 uncommitted high-current open-collector outputs (sinking up to 100 mA): 5 to 24 Volts. (For amp enable/disable, full/half current, step/microstep, etc.)
32 uncommitted digital TTL I/O channels: 16 inputs and 16 outputs TTL outputs can sink 24 mA and source 15 mA Optional: 8 channels of 14-bit analog inputs for joystick or other general
purpose inputs 4 high-speed position capture (latch) inputs (less than 1 uSec latency) 2 high-speed position compare outputs (up to 1 MHz trigger rate) E-stop configurable to any digital input Logical I/O functions can be re-mapped to different physical I/O
channels as needed Connections
All signals conveniently accessible on 68 pin SCSI connectors on the PCI mounting-bracket
Low cost cables widely available off-the-shelf from PBA Sytems or 3rd party cable suppliers
All I/O signals configured as matched twisted pairs for superior noise immunity
Screw-terminal interconnection boards available from PBA Systems or 3rd party suppliers
Other
On-board watchdog timer for failsafe operation Quick power-on firmware updates via software flash-wizard Custom features and performance enhancements available on request
- source code available to qualified OEM's Environmental & Mechanical
Operating temperature: 0-55 ºC (32-131 ºF) R.H. non-condensing Size: 176mm x 107mm (6.875" x 4.2") per PCI 2.2 specification
MM PA-40S-0 / MM PA-40S-B
We reserve the right to make technical changes at any time without prior notice
S P E C I F I C A T I O N S
PAGE 06
MM PA-44S-0 / MM PA-44S-A / MM PA-44S-B / MM PA-44S-C The MaxMotion PA-44S-0 / PA-44S-A / PA-44S-B / PA-44S-C is designed for high-performance PC-based multi-axis motion control applications which require up to 4 axes of analog servo control and up to 4 axes of pulse stepper control. Optional encoder inputs for closed-loop stepper or pulse-based servo control and general-purpose analog inputs are also available for this model.
Compact, powerful and economical PCI-bus motion controller Plug & Play half-length PCI-bus Universal card 64-bit floating point RISC CPU for superior performance, precision and dynamic range Flexible FPGA-based I/O architecture Up to 8 axes of high-performance closed-loop control 1-4 analog or PWM servo axes 1-4 Step/Dir/CW/CCW pulse axes (for stepper motors or pulse-controlled servos) Multi-axis coordinated motion - interpolation, contouring, spline, master/slave, gearing Trapezoidal, S-curve and parabolic velocity profiles for smooth jerk-free motion User selectable 1, 2 or 4 KHz PID-VAFF servo loop update rate each axis (up to 4 axes) 1 KHz PID-VAFF stepper closed-loop update rate each axis (up to 4 axes) 16-bit analog servo command outputs for superior precision 20 million encoder counts/sec for high-speed/ high-resolution moves 5 MHz pulse outputs for high-speed microstepping Open and closed-loop stepper control On-the-fly changes in trajectory, direction and PID values On-board multi-tasking and programmable interrupts free host PC for other tasks Consistent real-time behavior: Performance remains as specified no matter which features or axes are enabled Eight general-purpose 14-bit A/D input channels (optional) 60 user-assignable digital I/O channels Encoder inputs include encoder-failure detection circuitry for improved machine safety High-speed I/O for ultra-fast synchronization of motion and external events Sub-microsecond position capture (latch) inputs Encoder position compare (trigger) outputs (up to >1 MHz repeat rate) Custom features and task-optimized performance enhancements available upon request All I/O signals are differential or complementary twisted-pairs for superior noise immunity Flexible and fully software configurable I/O - no need to set any hardware jumpers Uses non-proprietary and widely-available low-cost SCSI cables & interconnect boards Fully programmable in C/C++/C#, Delphi, LabVIEW, Visual Basic and easy-to-use on-board command language Drivers for Windows 98/NT/2000/XP/Vista and Linux Powerful and flexible software software API is compatible with Max Motion Series Control Cards Includes a full suite of Windows installation, tuning, diagnostic and example programs with source code
Part Numbers Part Number Analog and/or PWM Axes
(Servo) Step/Dir. or CW/CCW
Pulse Axes (Stepper/Servo)
Encoder Channels (0-20 MHz)
Analog Inputs (14-bit)
MM PA-44S-0 4 4 4 0 MM PA-44S-A 4 4 8 0 MM PA-44S-B 4 4 4 8 MM PA-44S-C 4 4 8 8
M A K E S A D I F F E R E N C Ew w w. p b a s y s t e m s . c o m . s g
MaxMotion PA Series Precision Motion Control Card Multi-axis Servo and Stepper
We reserve the right to make technical changes at any time without prior notice
S P E C I F I C A T I O N S
PAGE 07
M A K E S A D I F F E R E N C Ew w w. p b a s y s t e m s . c o m . s g
MaxMotion PA Series Precision Motion Control Card Multi-axis Servo and Stepper
Specifications System Architecture
CPU: 64-bit floating-point RISC processor I/O interface: 150,000 gate FPGA OS: Real-time embedded multi-threading kernel
Form Factor
PCI-bus short-card (PCI 2.2 specification) Plug & play PCI Universal card (3.3 & 5V signaling)
Communication
33 MHz, 32-bit PCI-bus Universal interface High speed binary or ASCII communication via dual-ported RAM Supports PCI-bus interrupts to avoid polling Flexible user-defined interrupt conditions
Software & Programming
Programmable in C, C++, C#/.NET, Delphi, LabVIEW, Visual Basic Drivers for 32 & 64 bit Windows & Linux Full support for Microsoft .NET framework For real-time OS drivers (QNX, VxWorks, etc.) contact PBA Sytems Supports multi-threaded applications Motion Control API includes many useful utilities and sample programs
with source code Also programmable in native easy-to-use motion command language
(MCCL) Supports multi-tasking of MCCL user routines Includes Motion Integrator Windows software suite for easy installation,
tuning and diagnostics Software is compatible with Max Motion Series Control Cards All software is included at no extra charge
Motion Capabilities
8 axes total 4 axes of analog or PWM servo control 4 axes of pulse (step) control (Step/Dir/CW/CCW) Optional closed-loop control for pulse axes Multi-axis independent point-to-point positioning Multi-axis synchronized & coordinated motion Multi-axis linear & circular interpolation High-resolution electronic gearing Position, velocity, gain and joystick (jog) modes Backlash compensation Position capture inputs and compare outputs for high-speed latching
and event triggering Custom motion capabilities available upon request
Trajectory Generator
1, 2 or 4 kHz trajectory update rate (software selectable) Trapezoidal, parabolic and S-curve velocity profiles Independent acceleration & deceleration Trajectory & PID parameters can be changed on-the-fly
Memory
16 MB Dynamic RAM 2 MB Flash ROM for non-volatile program storage
Stepper Control Signals 4 axes of pulse command (Step/Dir/CW/CCW) Full step, half-step, microstep & full and half current 50% pulse-train duty-cycle
Position Feedback
Standard: 4 quadrature incremental encoder channels w/index Optional: 8 quadrature incremental encoder channels w/index 20 MHz encoder count rate each axis Single-ended or differential (A+, A-, B+, B-, I+, I-) High-speed encoder failure detection circuitry Digital noise filtering 32-bit position resolution (± 2,147,483,647 counts)
Servo Filter
Proportional/Integral/Derivative (PID) with acceleration, deceleration & velocity feed forward
Analog & PWM axes: 1, 2 or 4 kHz loop rate each axis (software selectable) Pulse axes: 1 kHz loop rate each axis
I/O Signals
16 uncommitted bi-directional opto-isolated inputs with individually configurable supply & return: 5 to 24 Volts. (For ± limits, amp fault, etc.)
12 uncommitted high-current open-collector outputs (sinking up to 100 mA): 5 to 24 Volts. (For amp enable/disable, full/half current, step/microstep, etc.)
32 uncommitted digital TTL I/O channels: 16 inputs and 16 outputs TTL outputs can sink 24 mA and source 15 mA Optional: 8 channels of 14-bit analog inputs for joystick or other general
purpose inputs 4 high-speed position capture (latch) inputs (less than 1 uSec latency) 2 high-speed position compare outputs (up to 1 MHz trigger rate) E-stop configurable to any digital input Logical I/O functions can be re-mapped to different physical I/O
channels as needed Connections
All signals conveniently accessible on 68 pin SCSI connectors on the PCI mounting-bracket
Low cost cables widely available off-the-shelf from PBA Sytems or 3rd party cable suppliers
All I/O signals configured as matched twisted pairs for superior noise immunity
Screw-terminal interconnection boards available from PBA Systems or 3rd party suppliers
Other
On-board watchdog timer for failsafe operation Quick power-on firmware updates via software flash-wizard Custom features and performance enhancements available on request
- source code available to qualified OEM's Environmental & Mechanical
Operating temperature: 0-55 ºC (32-131 ºF) R.H. non-condensing Size: 176mm x 107mm (6.875" x 4.2") per PCI 2.2 specification
Closed-loop control with optional encoder inputs
MM PA-44S-0 / MM PA-44S-A / MM PA-44S-B / MM PA-44S-C
Kinematic Ranges Position: 32 bit (± 2,147,483,647 steps) Velocity: 64 bit floating point (± 10208 encoder counts/sec2) Acceleration: 64 bit floating point (± 10208 encoder counts/sec2)
Servo Control Signals 4 axes of ±10V analog or PWM servo command Analog output resolution: 16-bits PWM output frequency: Software selectable For pulse-controlled servo systems:
o 4 axes of pulse command (Step/Dir/CW/CCW) o 5 MHz maximum pulse rate
5 MHz maximum pulse rate each axis (up to 4 axes)
Catalogue PBA Systems 130513Every care has been taken to ensure the correctness of the information contained in the book but no liability can be accepted for any errors or omissions.Copyright reserved. This book or parts thereof may not be reproduced without our permission.
PBA GROUP
Manufacturing Plants
USA
KOREA
ISRAEL
SWITZERLAND
CHINA
TAIWAN
GERMANY
ITALY
DISTRIBUTORSPBA (S) Pte LtdHeadquartersAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]: www.pba.com.sg
PBA Solutions Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6776Fax: +(65) 6576-6765Email: [email protected]: www.pbasolutions.com
PBA Systems Pte Ltd (601191)Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6767Fax: +(65) 6484-6768Email: [email protected]: www.pbasystems.com.sg
PBA Technology Pte Ltd (QA251)Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6760Fax: +(65) 6576-6761Email: [email protected]: www.pbatechnology.com
PBA Spindles Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6778Fax: +(65) 6576-6782Email: [email protected] Website: www.pba-spindles.com
PM-PBA Pte LtdAddress: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]
SINGAPORE MALAYSIAPBA Industries (M) Sdn BhdAddress: No 12A, Ground Floor Aked Esplanad, Jalan 14/155BBukit JalilKuala Lumpur, Malaysia 57000 Tel: +(60) 03-8993-9101 / 9102 / 9103Fax: +(60) 03-8993-9106Email: [email protected]
PBA System (M) Sdn BhdAddress: No 12A, Ground Floor Aked Esplanad, Jalan 14/155BBukit JalilKuala Lumpur, Malaysia 57000 Tel: +(60) 03-8993-9105Fax: +(60) 03-8993-9106Email: [email protected]
PBA Industries (PG) Sdn BhdAddress: 17-2-5, Bayan Point,Medan Kampung Relau,Penang, Malaysia 11900Tel: +(60) 04-6427915 / 6452916Fax: +(60) 04-6447434Email: [email protected]
PBA Advantech (M) Sdn BhdAddress: No 26 & 28, Jalan PTP 1/4, Taman Perindustrian Tasik Perdana, Puchong, Selangor 47120 Tel: +(60) 03-8993-9101 / 9102 / 9103Email: [email protected]
Indonesia Rep: Mr. Raya TjendrawasiH/P: +(62) 816-4846-547Email: [email protected]
INDONESIA
INDIA
PBA Technology Pte LtdAddress: 212B, 2nd Floor Shivai Plaza, Marol, Andheri East, Mumbai, India 400 059Tel: +(91) 22-401-58381Fax: +(91) 22-401-58389 Email: [email protected]
PBA (S) Pte LtdPhilippines Rep Office:Address: PBA Building, 505 Yishun Industrial Park A, Singapore 768733Tel: +(65) 6576-6766Fax: +(65) 6576-6765Email: [email protected]: www.pbagroup.net
PHILIPPINES
TAIWAN
THAILANDPBA Systems (Thailand) Co., Ltd.Address: 234/118, Asok-Dindaeng Road, Huakwang, Bangkapi, Bangkok, Thailand 10310Tel: +(66) 2-641-4522 / 641-4523Fax: +(66) 2-614-4400 E-mail: [email protected]
International Magnetics Technology Co., LtdAddress: Nongkhae Industrial Estate10/19 Soi SRDI Moo4,Tambon Kokyae, Amphur Nongkae,Saraburi, Thailand 18230Tel: +(66) 3-637-4024
新加坡商立狄線性馬達有限公司地址: 臺北市民權西路35號6樓之2Address: 6-2 FL No. 35, Min Chuan West Road, Taipei, Taiwan 104Tel: +(886) 2-2599-3558Fax: +(886) 2-2599-3042HP: +(886) 982-090-501 / +(886) 938-030-774 Email: [email protected]
PBA Systems Pte LtdAddress: Ace Hitech City 2-1504, 775, Gyeongin-Ro, Yeongdeungpo-Gu, Seoul, South KoreaTel: +(82) 2-3439-0070 / 71 / 72 / 73 / 74Fax: +(82) 2-3439-0080Email: [email protected]
KOREA
CHINASales Office 销售办事处:立狄线性马达(深圳)有限公司PBA Linear Motor Co. Ltd.宝安42区兴华一路华创达中心商务大厦A栋407-A42 Xinghua Road HuaChuangDa Central Business Building,Block A, 407-ABaoan District, Shenzhen, China 518000Tel:+(86) 755-216-77507Fax:+(86) 755-216-77506
Representative Office 代表机构:新加坡碧绿威私人有限公司深圳代表处宝安42区兴华一路华创达中心商务大厦A栋407-B42 Xinghua Road HuaChuangDa Central Business Building,Block A, 407-BBaoan District, Shenzhen, China 518000Tel:+(86) 755-216-77507Fax:+(86) 755-216-77506