Table of Contents
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1.1 Features
The following lists summarize the main features of the cPCI-8168
motion control system.
32-bit cPCI-Bus plug and play, Rev 2.2
6U Compact PCI form factor
4 axes of step and direction pulse output for controlling
stepping or servomotor.
Maximum output frequency of 6.55 Mpps.
Pulse output options: OUT/DIR, CW/CCW
28-bit up/down counter for incremental encoder feedback.
Programmable acceleration and deceleration time
Trapezoidal and S-curve velocity profiles
Any 2 of 4 axes circular interpolation.
2-4 axes linear interpolation.
Continuous interpolation
Change position and speed on the Fly. (Position/speed
override)
2 axes position compare trigger output with 4K FIFO auto-
loading.
13 home return modes
Software limit function
Home switch, index signal, positive and negative limit
switches, slow down point interface provided for all axes.
All digital input and output signals are 2500Vrms isolated
Programmable interrupt sources
Simultaneous start/stop motion on multiple axes
4 channels analog input; 4 channels analog output
8 channels general purpose digital input/output
4 channels high speed digital input/output
2 channels high speed remote I/O master control (HSL)
All general digital input pins have change of state interrupt
One high resolution hardware timer
Software supports maximum up to 6 cPCI-8168 cards (48
4
Introduction
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