XMP controller is a remarkably integrated device, designed to
link a host computer with industry-standard motion drives. While
many motion controllers heavily task the host computer's CPU to
calculate motion paths and execute commands, the XMP performs
much like a computer-within-a-computer to free the host of these
tasks. Because the controller dedicates itself 100 percent to
the task of motion control, the host computer is tasked only with
communicating high-level commands; it remains free to oversee
other tasks. Meanwhile, your machine's motion drive is ensured
the safest, most rapid and precise motion control possible. The
XMP controller achieves this feat through a fully integrated architecture,
consolidating all essential control components and subsystems
onto one board.
Hosts-- XMP controllers can be hosted by both PCI and CompactPCI
(CPCI) computers via a 32-bit direct memory interface. Remote
hosting via an Ethernet (TCP/IP) connection is also available.
Signal Processor (DSP)-- The hardware centerpiece of the XMP
is the SHARC DSP (Super Harvard ARchitecture
Computer Digital Signal Processor).
By taking full advantage of the DSP's horsepower, efficiency is
optimized, by splitting the motion tasks between the host and
Control-- Each controller is capable of operating up to 16
axes (independently configurable to control a servo or stepper
motor) at a sample rate of 5 KHz, or 8 axes at a sample rate of
10 kHz. Included with each axis is a high speed compare output,
and a high speed capture or registration input. Each axis can
also be configured to sinusoidally commutate servo motors via
two analog outputs. Full tuning capability is offered with PID
and advanced, post-PID filtering options for each axis, including
gain-scheduling and dual-loop control. Stepper output rates can
be as high as 2.5 MHz. This direct-digital pulse train can control
an open or closed loop motor, enabling frequency-controlled servo
operation. Axes can be configured for step-direction or clockwise-counterclockwise
Feedback-- Motion feedback can be standard quadrature from
an incremental encoder (10 MHz max, 40 MHz count rate), ±10
volt analog differential signal, or analog encoder signal routed
to a 4096x Scale Interpolation Module (SIM4).
Programming Interface (MPI)-- The MPI (Motion Programming
Interface) has two built-in software objects for easy real-time
motion application control: the Event Manager and Program Sequencer.
The Event Manager communicates to the XMP via the bus interface
and interrupts. Multi-threaded applications can wake or put to
sleep multiple threads based on user-defined events or standard
MPI events, such as emergencies. The Event Manager facilitates
efficient multi-threaded applications. The Program Sequencer allows
onboard autonomous programs to execute instructions during each
DSP sample period. Onboard XMP-handled programs require no host
intervention for optimal host-processor efficiency and guaranteed
Dedicated, DSP-based motion control optimizes safety: the controller's
on-board watchdog timers constantly monitor handshaking, and a
dedicated, general purpose E-stop input is at the ready. Each
axis also has configurable, optically-isolated software and hardware
limits up to 24 volts.
A phase-locked loop (PLL) clock generator provides the master
clock to the DSP, PCI interface, state machines and FPGAs.
Power Supply-- Clean analog power is generated on ±15V
power rails from Vcc. Each 8-axis controller has its own analog
key components comprise the XMP family: main boards, expansion
boards, and SIM4 modules. Every XMP controller starts with one
main board. Other components are added as needs dictate.
main board-- Every XMP controller consists of at least this
component; in some cases (XMP-CPCI-3U and XMP-SERCOS-PMC) it
is the only component. Each main board includes a SHARC
DSP processor subsystem with up to two motion blocks each.
expansion board (optional)-- Connects directly to one main
board (XMP-PCI and XMP-CPCI-6U only) via a ribbon cable. Adds
up to two more motion blocks, with 4- and 8-axis models available.
scale interpolation module (optional)-- Plugs directly into
main and/or expansion boards (XMP-PCI and XMP-CPCI-6U only)
via mezzanine connectors. Up to two SIM4s may be added to each
main or expansion board.
boards and SIM4 modules.