PC104 View Datasheet(PDF) - PMD
Part Name
Description
MFG CO.
'PC104' PDF : 70 Pages View PDF
2
Operation
2.1 Card Function Overview
Navigator-PC/104 card resources can be broken into three overall categories:
Navigator motion processor functions - These are programmable functions which reside in the
motion processor such as profile generation, servo loop closure, and much more. These functions
are accessed using Navigator motion processor commands, of which there are roughly 150 in total,
to allow sophisticated control of the card’s overall behavior.
Card-specific functions - These are programmable functions which are controlled by the motion
processor using commands ReadIO and WriteIO, but which reside in various portions of the card
circuitry. These functions include general purpose digital I/O, and other card-specific capabilities.
Signal Processing & Hardware functions - A substantial portion of the card provides signal
conditioning and other functions associated with non-programmable, signal-related processing.
2.2 Navigator Motion Processor
The Navigator motion processor pictured in figure 2.1, the Internal Block Diagram, page 21, is comprised
of 2 ICs, a CP (command processor) and an I/O (input/output) IC. A summary list of the functions
provided by the motion processor is as follows:
„ Profile generation
„ Motor output signal generation (PWM and analog)
„ Quadrature counting, index capture
„ Servo loop closure (for DC brush or brushless DC motors only)
„ Breakpoint processing
„ PLC-function processing (AxisIn and AxisOut signals)
„ Trace
„ Motion error detection, tracking and settle windows indicator
„ Limit switches
Access to the Navigator-PC/104 cards may occur through the PC/104 port, or through the serial port.
In either case, a complete set of C-Motion function calls, one for each Navigator command, is used to
communicate to the card. For a complete list of Navigator commands see the Navigator Motion Processor
Programmer’s Command Reference.
The system on which the Navigator-PC/104 card is installed can control the card through the pre-
compiled program Pro-Motion, or through a program of your own construction, using C-Motion calls
as the basic interface. During axis setup (see section 4, Developing Your Own Applications with C-Motion,
page 51 for more details) the communications method (PC/104-bus or serial port), and other parameters,
are specified which allow C-motion to create a virtualized axis handle, that from then on is the reference
for all C-motion commands.
Available C-Motion commands correspond one-for-one with those listed in the Navigator Motion Processor
Programmer’s Command Reference. All C-Motion commands preface the Navigator command with the letters
‘PMD’, so the Navigator command (for example) SetPosition becomes the C-callable routine
PMDSetPosition
22
Navigator-PC/104 User’s Guide
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