pi2009
4-120
©
Physik
Instrumente
(PI)
GmbH
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Co.
KG
2008.
Subject
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All
data
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superseded
by
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new
release.
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newest
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for
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Cat120E
Inspirations2009
08/10.18
Piezo Nano Positioning
C-843 DC-Servo-Motor Controller
Servo Motion Controller/Driver PCI Board for 2 or 4 Axes
The C-843 PCI motion control-
ler card drives up to 4 axes of
micropositioning equipment.
Because there is no need for
external servo-amplifiers, this
new card is a very cost-effecti-
ve, easy-to-set-up solution.
On-Board Servo-Amplifiers
Unlike other PCI controller
cards, the new C-843 comes
with on-board, low-noise linear
amplifiers for the small DC
motors used in most compact
micropositioning stages and
actuators.
In addition, PWM outputs are
available to drive more power-
ful equipment (all direct-drive
translation and rotation stages
from PI feature the integrated
ActiveDrive PWM amplifiers,
and also connect to the C-843
with no external power ampli-
fiers).
The PWM mode and linear
amplifier mode can be pro-
grammed individually for each
of the 4 (or 2) channels.
High-Performance PID Control
The C-843 employs a fast DSP
(digital signal processor) provi-
ding high-performance PID
motion control with many
options for trajectory genera-
tion and filter settings for
superior positioning and tra-
cking accuracy. Position, velo-
city, acceleration and several
other motion parameters can
be programmed individually
for each axis on-the-fly. High-
bandwidth counters (5 MHz)
support differential encoder
feedback (incremental rotary
encoders or linear scales) for
fast and accurate positioning.
I/O for Flexible Automation
In addition to 3 TTL inputs per
channel for limit and reference
signals, 16 more I/O lines are
available for flexible automa-
tion tasks (trigger functions,
etc.). The C-843 also features
motor-brake output lines (e.g.
for M-531.DDB stages).
High-Speed Buffering
The integrated 32 k-sample
trace memory allows online
buffering (read and write) at
integer multiples of the servo-
loop time of up to four inde-
pendent system variables
(positions, velocities, internal
register contents, etc.) This
allows the observation of the
motion system and also perfor-
ming customized trajectory
profiles.
PI General Command Set
(GCS)
The comprehensive command
structure is based on the PI
General Command Set (GCS).
With GCS the development of
custom application programs
is simplified, because the com-
mads for all supported devices
are identical in syntax and
function. PI controllers for
nanopositioning systems, for
piezomotors and servo or step-
per motors can be commanded
with GCS.
Software / Programming
In addition to the user software
for setup, system optimization
and operation, comprehensive
LabVIEW and DLL libraries are
provided. The user friendly PI
MikroMove provides a con-
venient interface for stage ope-
ration including tuning tool,
joystick operation, terminal
and macro editor.
Communications to/from the
board consist of packet-based
messages passed via memory
access. An interrupt line is pro-
vided so that the chipset can
signal the PC when special
conditions arise, such as recep-
tion of an encoder index pulse.
For system programmers the
C-843 offers direct access to
the DSP.
Ordering Information
C-843.21
DC-Motor Controller PCI PC Board,
2-Axis
C-843.41
DC-Motor Controller PCI PC Board,
4-Axis
C-843.JS
Joystick and PCI Interface Board for
C-843 Motor Controller
L52159 Two and Four Axis Version
L52159 Very Cost-Effective: Servo Amplifiers On-Board
L52159 Additional PWM Outputs for High-Power Motors
L52159 Trapezoidal Curve, S-Curve and Velocity Profile
L52159 32 kSamples RAM for High-Speed Buffer Operations
L52159 16 I/O Lines for Flexible Automation
L52159 Fast PCI Communication, 120 µs for Position Read
L52159 Motor-Brake Control Output
L52159 Extensive Software Support
L52159 General Command Set (GCS) Compatible
C-843.41 DC-motor controller board with M-110.DG linear stage, M-235.5DG heavy
duty linear actuator, M-511.DD direct drive translation stage and M-501.1DG vertical
stage. No external amplifier is required to drive any of these or other PI stages.
Small motors are driven through the C-843's onboard linear amplifiers, direct-drive
PI stages (e.g. M-511.DD) employ ActiveDrive controlled off the C-843's PWM
outputs.
4-121
Piezo Nano Positioning
Single-Channel
Hybrid
Multi-Channel
Translation (X)
Vertical (Y)
Multi-Axis
Nanopositioning / Piezoelectrics
Linear Actuators & Motors
Hexapod 6-Axis Systems /
Parallel Kinematics
Linear Stages
Rotary & Tilt Stages
Accessories
Nanometrology
Micropositioning
Servo & Stepper
Motor Controllers
Micropositioning
Fundamentals
Index
Technical Data
Model C-843
Function PC plug-in DC-servo-motor controller board, 32-bit plug-and-play PCI-bus interface,
supported by main boards with 3.3 V and 5 V PCI bus connectors (universal card)
Axes 2 (C-843.21); 4 (C-843.41)
Servo characteristics Programmable PID V-ff filter, parameter changes on-the-fly
Profile modes Trapezoidal, S-curve, velocity profile
Output power / resolution Analog 6 watts/channel (drawn directly from PC power supply), 12-bit D/A converters, PWM 10-bit, 24.5 kHz
Current limitation 500 mA per channel (short-circuit-proof)
Encoder input AB (quadrature) differential TTL signals,5x10
6
counts/s
Stall detection Servo off, triggered by programmable position error
Limit switches 2 TTL / axis (active high/low, programmable)
Reference switches 1 TTL / axis (active high/low, programmable)
I/O ports 8 TTL inputs, 8 TTL outputs
Motor connectors 15-pin (f) sub-D per channel (2 on board + 2 on bracket for C-843.41)
Interface/communication PC PCI bus
Command set PI General Command Set (see p. A-8)
The Tuning Tool which is integrated in PIMikroMove
®
demonstrates acquiring and
displaying step and settle data of micropositioning systems. Controls allow adjustment
of the PID parameters for best performance.
PIMikroMove
®
tabular presentation of four connected axes with display of absolute and
relative positioning input, current position, halt axis button, state and velocity setting.
www.pionline.it, www.pifrance.fr, www.pi-china.cn, www.goa-tech.co.il, www.alt.nl, www.bfioptilas.es, www.pi.ws, www.piceramic.de, www.pi-usa.us, www.pi-usa.us, www.pi-japan.jp, www.pi-japan.jp, www.physikinstrumente.co.uk, www.dyneos.ch, www.parameter.se, dms@deepms.com, www.deepms.com, www.warsash.com.au, www.parameter.se, www.eliovac.com.ar, www.rsdobrasil.com.br, www.woojoohitech.com, www.cairnhill.com, www.tetmakina.com, Seewww.piceramic.com, Seep.1-94ff.andwww.piceramic.com, Seewww.piceramic.com, Seealsowww.piceramic.com, andoscillatingmotione.g.in, info@pi-usa.us, www.pi-usa.us, info@pi-usa.us, www.pi-usa.us, info@pi-japan.jp, www.pi-japan.jp, info@pi-japan.jp, www.pi-japan.jp, info@pi-china.cn, www.pi-china.cn, info@pifrance.fr, www.pifrance.fr, uk@pi.ws, www.physikinstrumente.co.uk, info@pionline.it, www.pionline.it, info@piceramic.de, www.piceramic.de,
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