Ormec Model 20/40 Motion Controllers

coordinate the motion of multiple servomotors with each other, or coordinate

some number of servomotors with the motion of an external pacer encoder.

2.2 Model 20/40 Features

• 80C186, 16-bit CMOS high integration microprocessor operating at 12 Mhz

• optional 80C187 math co-processor

• powerful MotionBASIC® programming with hypertext on-line manual

• powerful and easy to use MotionPROTM motion programming environment

on an IBM-PC or compatible

• 16-bit IBM-PC/AT style backplane for DSP Servo Modules and expansion

boards; Model 20 and 40 have 2 and 4 slots respectively.

• RS-232 Serial Port for program development and troubleshooting

• RS-422/485 communications port for either MotionNETTM or auxiliary serial

communications

• integral Watchdog Timer and Emergency Stop circuitry

• 22 built-in diagnostic LEDs

• dual PCMCIA standard memory card slots are standard on the Model 40

and optional on the Model 20

• 16 discrete I/O points for machine control use Opto-22 style modules

• optionally add 24 TTL level I/O points which are compatible with Opto-22

style I/O racks or the Opto-22 Pamux system

• Opto-22’s Pamux I/O system provides a combination of up to 512 optically

isolated digital and 12-bit analog I/O points

• IBM-PC/AT compatible keyboard interface is standard on the Model 40 and

optional on the Model 20

• optional EGA or monochrome video adapter for Operator Interface

• optional single or dual-channel RS-422 Serial Interfaces

2.2.1 Model 20 Model Number Description

GN3-20/1 Generation III Model 20, 115 VAC Input

Options:

1) for 230 VAC input, change the /1 to a /2

2) to add a math co-processor, add an M

3) to add an absolute encoder backup battery, add a B

4) to add MotionCARD/Memory Disk Support, add a C

5) to add an IBM/PC-AT Keyboard Interface, add a K

6) to add an extended I/O (Pamux) Interface, add an I

GN3-20/2MBCKI Generation III Model 20 with all options

2.2.2 Model 40 Model Number Description

GN3-40/1 Generation III Model 40, 115 VAC Input

Options:

1) for 230 VAC input, change the /1 to a /2

2) to add a Math co-processor, add an M

3) to add an absolute encoder backup battery, add a B

4) to add an extended I/O (Pamux) Interface, add an I

GN3-40/2MBI Generation III Model 40 with all options. Note that

MotionCARD/Memory Disk Support and a Keyboard

Interface are standard.

2.3 Modular Construction

• compact panel mountable steel enclosure (19.5"h x 6.0"w x 10.5"d)

• industrially hardened switching power supplies use either 115 or 230 VAC

power and include a built-in switch/circuit breaker as well as a line filter for

noise immunity

• isolated 24 VDC power supply for optically coupled discrete I/O is standard

2.4 DSP Axis Modules

There are two models of DSP Axis Modules including a dual axis unit, and a

single axis unit with an auxiliary pacer encoder interface. They both use a 40

Mhz Texas Instruments Digital Signal Processor (DSP) to provide axis control

algorithms. The DSP is interfaced to the main processor through a dual-port

RAM shared memory interface for maximum speed and flexibility. DSP Axis

Module features are overviewed below:

• Texas Instruments TMS-320C25 DSP operating at 40 Mhz

• direct digital loop control with up to 5 Khz servo update rates provide wide

loop bandwidth for high positioning accuracy and response

• quadrature feedback 4x decoding with positioning rates to 1.2 MBit per

second

• position, velocity or torque mode control

• total elimination of analog drift errors and extremely quiet loop operation

using direct digital processing of both position and velocity loops with 32 bit

intermediate calculation accuracy

• software controlled position, speed, and current limits

• velocity and acceleration feedforward for minimum tracking errors and

response times

• fully compatible with ORMEC torque mode servodrives through the

individual Axis Interface Connectors

• pacer encoders for electronic gearing are interfaced through any of the DSP

Axis Modules’ interface connectors

• proprietary MotionDATATM communications from DSP to DSP allows tightly

coordinated multi-axis motion

• servodrive remote enable and reset functions are provided by optically

coupled outputs

• open feedback wire detect provided on all differential quadrature feedback

inputs

• failsafe servodrive alarm detection using optically isolated input

• servodrive alarm decoding is provided by three optically isolated inputs

• shared memory data interface to main processor

• writable control store for DSP program storage is loaded from the main

processor at powerup

2.4.1 DSP Axis Module Model Number Description

GN3-DSP-AQ Single Axis DSP Module with Pacer Encoder Interface

GN3-DSP-AQ/A Single Axis DSP Module with Pacer Encoder Interface

with 4-channel 12-bit A/D converter option

GN3-DSP-A2 Dual Axis DSP Servo Control Module

GN3-DSP-A2/A Dual Axis DSP Servo Control Module with 4-channel

12-bit A/D converter option

2.5 Servodrive Compatibility

ORMEC’s SAC Series current mode servodrives provide the following features

and benefits:

• operation on unisolated standard line voltages of either 115 or 230 VAC

• wide range of output power from 50 watts to 6.1 kilowatts

• high peak torque (current), typically three times rated current for a few