CONTENTS:
INDEX
A
Active high wiring CH3: Drive Enable Wiring
Active low wiring CH3: Drive Enable Wiring
ADC CH6: Analog Inputs
AGnd CH:3 Analog Inputs
Amp Enable CH3: Drive Enable Wiring
Amp Fault Input CH3: Drive Enable Wiring
Amp Polarity CH3: Drive Enable Wiring
Amp_En_Collector CH3: Drive Enable Wiring
Amp_En_Emitter CH3: Drive Enable Wiring
Amp_Flt_IN CH3: Drive Enable Wiring
Amp_Flt_Rtn CH3: Drive Enable Wiring
Analog Devices:
    21061 floating point DSP (SHARC) CH6: SHARC DSP Processor Subsystem
Analog Drives:
    amplifier enabling CH3: Drive Enable Wiring
    command signal CH3: Connect to Analog Servo Amplifiers
    configuring CH3: Configuring Analog Connections
    connections to servo motors CH3: Configuring Analog Connections
    connections to step motors CH3: Configuring Analog Connections
    electrical requirements CH1: Host Computer Electrical Requirements
    wiring CH3: Drive Enable Wiring
Analog Inputs CH:3 Analog Inputs
Analog inputs CH6: Analog Inputs
Analog power supply CH6: Architectural Overview
Analog_IN CH:3 Analog Inputs
Auxiliary DAC CH6: Analog Inputs


B
Bi-directional opto-inputs and -outputs CH1: Host Computer Electrical Requirements
Bios CH6: Analog Inputs
Boot-up (motion application) CH6: XMP Data Architecture
Broken wire detection CH3: Connect System I/O
Brush servo motors
    connection to XMP controllers CH3: Configuring Analog Connections
Bus interface CH2: Introduction , CH2: PMC Bus , CH6: Host Bus
    expansion boards CH2: CPCI-6U Bus
    Riptide CH6: XMP Data Architecture
    XMP-CPCI-3U CH2: CPCI-3U Bus
    XMP-CPCI-6U CH2: CPCI-6U Bus
    XMP-PCI CH5: PCI Bus
    XMP-PMC CH2: PMC Bus


C
Cable
    bend radius limits in SERCOS CH5: SERCOS Connection Hardware
    fiber optic CH5: Introduction , CH5: SERCOS Connection Hardware , CH5: XMP-SERCOS Connector Ports
    SERCOS CH5: Introduction , CH5: SERCOS Connection Hardware
Cable, VHDCI CH4: Introduction
Capture CH6: XMP Data Architecture
CBL-68 cable CH4: Introduction
Clock generator CH6: Architectural Overview
Cmd_Dac_OUT CH3: Connect to Analog Servo Amplifiers
Command voltage output CH6: Analog Inputs
Common Gnd logic CH3: Connect System I/O
Common Vcc logic CH3: Connect System I/O
Connection
    SERCOS CH5: SERCOS Connection Hardware
    STC-136 CH3: Introduction
    VHDCI CH4: Introduction
    XMP-analog I/O CH4: Introduction
Control objects CH6: XMP Data Architecture
CPCI
    bus connectors CH2: SERCOS Connection Hardware , CH2: XMP Controller Installation
CPCI-3U
    bus connector CH4: CPCI-3U
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    XMP controller installation CH1: XMP Controller Installation
CPCI-6U
    form factor CH1: XMP Hardware , CH1: XMP Hardware
SERCOS CH5: XMP-SERCOS Connector Ports
    XMP controller installation CH1: XMP Controller Installation


D
DAC
    auxiliary CH6: Analog Inputs
    calibration and activation CH6: SHARC DSP Processor Subsystem
    circuitry CH6: Analog Inputs
DACs in Motion Blocks CH6: Analog Inputs
    output protection CH6: Analog Inputs
    output response to resets CH6: Analog Inputs
    outputs CH6: Analog Inputs
    servo command output CH6: Analog Inputs
DACs CH6: Digital-to-Analog Converter (DAC) Subsystem
Data architecture CH6: Analog Inputs
Dedicated opto-inputs, specifications CH1:Host Computer Electrical Requirements
Dedicated opto-outputs, specifications CH1: Host Computer Electrical Requirements
Delete objects CH6: XMP Data Architecture
Device driver CH6: XMP Data Architecture
Devices window CH6: XMP Data Architecture
Differential encoders CH3: Introduction 3
Digital noise filtering, encoder CH6: Host Bus
Digital-to-analog (DAC)
    outputs CH6: Analog Inputs
Digital-to-analog converter (DAC) CH6: Digital-to-Analog Converter (DAC) Subsystem
DSP CH6: SHARC DSP Processor Subsystem
    (diagram) CH6: SHARC DSP Processor Subsystem
DSP RAM CH6: SHARC DSP Processor Subsystem
Dual-loop control CH3: Drive Enable Wiring


E
Ejectors, and CPCI boards CH1: XMP Controller Installation , CH1: XMP Controller Installation
Electrical requirements
    encoders CH1: Host Computer Electrical Requirements, CH1: Host Computer Electrical Requirements
    input voltages CH3: Introduction
    XMP controller CH1: Host Computer Electrical Requirements
Electrostatic discharge (ESD)
    installation precautions CH1: XMP Controller Installation
Enc CH3: Introduction 3, CH3: Drive Enable Wiring
Encoders
    broken wire detection CH3: Connect System I/O , CH6: Host Bus , CH6: SHARC DSP Processor Subsystem
    differential CH3: Introduction 3
    digital noise filtering CH6: Host Bus
    digital quadrature CH3: Introduction 3
    dual-loop CH3: Drive Enable Wiring
Encoders (cont.)
    electrical requirements CH1: Host Computer Electrical Requirements, CH1: Host Computer Electrical Requirements
    illegal state detection CH3: Connect System I/O
    inputs CH6: Host Bus
    single-ended CH3: Drive Enable Wiring
    wiring CH3: Introduction 3
E-Stop input CH3: Connect System I/O
ESTOP_IN CH3: Connect System I/O
Expansion board CH6: Analog Inputs , CH6: Analog Inputs
Expansion boards
    bus connectivity CH2: Introduction
connection to main CH2: Introduction
   

F
Fail safe wiring CH3: Drive Enable Wiring
Fault monitor CH6: Analog Inputs
Field programmable field array (FPGA) CH6: Analog Inputs
Field Programmable Gate Array (FPGA) CH6: XMP Data Architecture
Flash memory CH6: SHARC DSP Processor Subsystem , CH6: Analog Inputs
Form factors
    CPCI-3U CH1: XMP Hardware , CH1: XMP Hardware
    CPCI-6U CH1: XMP Hardware , CH1: XMP Hardware
    PCI CH1: XMP Hardware , CH1: XMP Hardware
    PMC CH1: XMP Hardware , CH1: XMP Hardware
FPGA (Field Programmable Field Array) CH6: Analog Inputs
FPGA (Field Programmable Gate Array) CH6: XMP Data Architecture


G
Generator, clock CH6: Architectural Overview


H
Hard reset CH6: Analog Inputs
HFBR-1505 transmitter, specifications CH5: Introduction
HFBR-2505A receiver, specifications CH5: Introduction
Home event CH6: XMP Data Architecture
Home sensors CH3: Connect System I/O
Home_IN CH3: Connect System I/O , CH3: Connect System I/O
HomeLim_Rtn CH3: Connect System I/O , CH3: Connect System I/O , CH3: Connect System I/O , CH3: Drive Enable Wiring
Homing CH6: XMP Data Architecture


I
IDNs CH5: SERCOS Connection Hardware
Illegal state detection CH3: Connect System I/O
Initialization (controller) CH6: SHARC DSP Processor Subsystem
Input-output (I/O)
    analog inputs CH6: Analog Inputs
    backplane connection CH3: Introduction
    bi-directional opto-inputs CH1: Host Computer Electrical Requirements
    bi-directional opto-outputs CH1: Host Computer Electrical Requirements
    connectors CH4: Introduction
    digital-to-analog (DAC) CH6: Analog Inputs
    opto-input specifications CH1:Host Computer Electrical Requirements
    optoisolation CH3: Introduction
    opto-output specifications CH1: Host Computer Electrical Requirements
    SERCOS CH5: Introduction
CH5: Assistance with SERCOS Networks
    STC-136 terminal blocks CH3: Introduction
    XMP-CPCI-3U CH4: CPCI-3U
    XMP-CPCI-6U CH4: Introduction CH2: PCI Bus
    XMP-PCI CH4: XMP-PCI
CH5: SERCOS Connection Hardware
    XMP-PMC CH4: XMP-SERCOS-PMC, CH5: Introduction CH5: Assistance with SERCOS Networks
Installation
    XMP controllers CH1: XMP Hardware CH2: Introduction
    XMP-CPCI-3U controllers CH1: XMP Controller Installation
    XMP-CPCI-6U controllers CH1: XMP Controller Installation
    XMP-PCI controllers CH1: XMP Controller Installation
    XMP-PMC controllers CH1: XMP Controller Installation
Interface CPLD CH6: Analog Inputs


J
J0-1 (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J10-11 (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J1CH2: PMC Bus (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J1CH4: XMP-PCI (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J2 (backplane connector on XMP-CPCI-3U) CH4: CPCI-3U
JCH5: PCI Bus (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J3 (backplane connector on XMP-CPCI-6U, expansion) CH4: CPCI-6U Expansion Board, Backplane Connectors
J3 (backplane connector on XMP-CPCI-6U, main) CH4: CPCI-6U
J4 (backplane connector on XMP-CPCI-6U) CH4: XMP-PCI, CH4: CPCI-6U Expansion Board, Backplane Connectors
J4-5 (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J5 (backplane connector on XMP-CPCI-6U, expansion) CH4: CPCI-6U Expansion Board, Backplane Connectors
J5 (backplane connector on XMP-CPCI-6U, main) CH4: XMP-PCI
J6-7 (VHDCI connector on XMP-PCI) CH4: XMP-PCI
J8-9 (VHDCI connector on XMP-PCI) CH4: XMP-PCI


L
Latency for position capture CH6: Host Bus
Lattice CH6: Analog Inputs
Limit sensors CH3: Connect System I/O
Limit switches CH6: XMP Data Architecture


M
Main board CH6: Analog Inputs , CH6: Analog Inputs
Memory map, XMP CH6: Analog Inputs
Motion blocks CH6: Analog Inputs , CH6: Analog Inputs , CH6: SHARC DSP Processor Subsystem
Motion Console
    amp enable CH3: Drive Enable Wiring
    amp polarity CH3: Drive Enable Wiring
    amplifier enabling CH3: Drive Enable Wiring
    configuring stepper motors CH3: Configuring Analog Connections
    XCVR inversion CH3: Configuring Analog Connections
Motor blocks CH6: Analog Inputs , CH6: Analog Inputs
Motors
    brush servo CH3: Configuring Analog Connections
    brushless servo CH3:Configuring Analog Connections
    open-loop step CH3: Configuring Analog Connections
Multiplexers CH6: Analog Inputs


N
Neg_Lim_IN CH3: Connect System I/O , CH3: Connect System I/O
Nodes, SERCOS CH5: Introduction
Noise filtering, (digital) in encoder CH6: Host Bus


O
Open-loop step motors CH3: Configuring Analog Connections
Optical power, SERCOS CH5: SERCOS Connection Hardware
Origin CH6: XMP Data Architecture


P
PCI CH6: Analog Inputs
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    XMP-PCI controller installation CH1: XMP Controller Installation
PIDNs CH5: SERCOS Connection Hardware
Platforms
    LynxOS CH1: XMP Hardware
PharLap CH1: XMP Hardware
    QNX CH1: XMP Hardware
    VenturComRTSS CH1: XMP Hardware
    VxWorks CH1: XMP Hardware
    Windows2000 CH1: XMP Hardware
    Windows95/98 CH1: XMP Hardware
    WindowsNT CH1: XMP Hardware
    PMC
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    SERCOS CH5: XMP-SERCOS Connector Ports
    XMP-PMC controller installation CH1: XMP Controller Installation
Pos_Lim_IN CH3: Connect System I/O , CH3: Connect System I/O
Position capture
    for Motion Blocks CH6: Host Bus
    in scale interpolation CH6: Host Bus
Position compare, in scale interpolation CH6: Host Bus
Position error CH6: SHARC DSP Processor Subsystem
Power supervisor CH6: Analog Inputs
Power supply, analog CH6: Architectural Overview
Power-up sequence CH6: Analog Inputs


R
Reset
    hard CH6: Analog Inputs
    soft CH6: Analog Inputs
RESET_IN CH3: Drive Enable Wiring
Resets CH6: Analog Inputs
    DAC output response to CH6: Analog Inputs
Ribbon cable (main-expansion boards) CH2: Introduction
Rings, SERCOS CH5: Introduction
Riptide CH6: XMP Data Architecture
RS422 receiver, specifications CH1: Host Computer Electrical Requirements
RS422 transmitter, specifications CH1: Host Computer Electrical Requirements
Rx, SERCOS receiver CH5: XMP-SERCOS Connector Ports


S
Safety precautions
    amplifier enabling CH3: Drive Enable Wiring
    braking CH3: Drive Enable Wiring
    electrostatic discharge (ESD) CH1: XMP Controller Installation
    emergency stop CH3: Drive Enable Wiring
    E-stop input CH3: Connect System I/O
    fail safe wiring CH3: Drive Enable Wiring
    installation CH1: XMP Controller Installation
    power CH1: XMP Controller Installation
    safety zones CH1: XMP Controller Installation
    sudden movement CH1: XMP Controller Installation
Scale interpolation
SIM4 module CH1: Expansions and Add-ons
Scale interpolation module CH6: Host Bus
    position capture CH6: Host Bus
    position compare CH6: Host Bus
    sine and cosine levels CH6: Host Bus
SERCOS CH5: Introduction, CH5: Assistance with SERCOS Networks, CH6: Analog Inputs
    cable bend radius CH5: SERCOS Connection Hardware
    connectors CH5: SERCOS Connection Hardware
    data rate CH5: XMP-SERCOS Connector Ports
    drive limitations CH5: Introduction
    IDNs CH5: SERCOS Connection Hardware
    initialization CH5: SERCOS Connection Hardware
    input-output (I/O) CH5: Introduction, CH5: Assistance with SERCOS Networks
    nodes CH5: Introduction
    NRZI bit coding CH5: XMP-SERCOS Connector Ports
    optical power CH5: Introduction , CH5: SERCOS Connection Hardware
    rings CH5: Introduction
    telegrams CH5: Introduction
    XMP-CPCI-6U CH5: XMP-SERCOS Connector Ports
    XMP-PMC CH5: XMP-SERCOS Connector Ports
Servo command output DAC CH6: Analog Inputs
Servo motors
    connection to XMP controller CH3: Configuring Analog Connections
SHARC DSP CH6: SHARC DSP Processor Subsystem , CH6: Analog Inputs
    (diagram) CH6: SHARC DSP Processor Subsystem
SIDNs CH5: SERCOS Connection Hardware
SIM4 CH6: Host Bus
SIM4 module CH1: Expansions and Add-ons, CH6: Architectural Overview
Sine and cosine, in scale interpolation CH6: Host Bus
Single-ended encoders CH3: Drive Enable Wiring
Soft reset CH6: Analog Inputs
SRAM, external CH6: SHARC DSP Processor Subsystem
STC-136 terminal blocks CH3: Introduction , CH4: Introduction CH3: Connect to Analog Servo Amplifiers
STC-136 terminal connection block CH3: Introduction
Step motors
    connection to XMP controller CH3: Configuring Analog Connections
    open-loop CH3: Configuring Analog Connections
Step-and-direction motors
    connection to XMP controller CH3:Configuring Analog Connections
Stepper motors
    closed loop CH3: Configuring Analog Connections
    configuring using Motion Console CH3: Configuring Analog Connections
    loopback CH3: Configuring Analog Connections
    step/dir & CW/CCW specs CH3: Connect to Digital Quadrature Encoders
    supported in MPI CH3: Drive Enable Wiring
System Reset Input CH3: Introduction


T
Telegrams, SERCOS CH5: Introduction
Terminal connection blocks
    STC-136 CH3: Introduction
Transceivers
    analog XCVR A CH4: XMP-PCI
    analog XCVR B CH4: XMP-PCI
    analog XCVR C CH4: XMP-PCI
    analog XCVR D CH4: XMP-PCI
    analog XCVR E CH4: XMP-PCI
    analog XCVR F CH4: Transceiver (XCVR) and User I/O Details
    as Compare outputs CH3: Connect System I/O
    configuring CH3: Connect to Digital Quadrature Encoders , CH4: XMP-PCI
    electrical requirements CH1: Host Computer Electrical Requirements
    inverting CH3: Configuring Analog Connections
    SERCOS CH5: Introduction
Trigger CH6: XMP Data Architecture , CH6: Analog Inputs
Troubleshooting
    SERCOS networks CH5: Assistance with SERCOS Networks
    SERCOS optical power settings CH5: SERCOS Connection Hardware
    wiring CH4: Introduction
Tx, SERCOS transmitter CH5: XMP-SERCOS Connector Ports


U
User I/O CH4: Transceiver (XCVR) and User I/O Details

User I/O outputs CH3: Drive Enable Wiring
UserIO CH3: Drive Enable Wiring
UserIO_Rtn CH3: Drive Enable Wiring

V
VHDCI cabling CH4: Introduction

W
Watchdog timer CH6: Analog Inputs
Wiring, motor CH3: Configuring Analog Connections, CH3: Drive Enable Wiring


X
XCVR A functions CH4: XMP-PCI
XCVR B functions CH4: XMP-PCI
XCVR C functions CH4: XMP-PCI
XCVR D functions CH4: XMP-PCI
XCVR E functions CH4: XMP-PCI
XCVR F functions CH4: Transceiver (XCVR) and User I/O Details
XMP bus interface CH2: Introduction -CH2: PMC Bus
XMP Controller
    analog drives CH1: Host Computer Electrical Requirements
    bus connectivity CH2: Introduction
    bus interface CH6: Host Bus
    connection to brush servo motors CH3: Configuring Analog Connections
    connection to servo motors CH3: Configuring Analog Connections
    connection to step motors CH3: Configuring Analog Connections
    connection to step-and-direction motors CH3:Configuring Analog Connections
    data architecture CH6: Analog Inputs
    device driver CH6: XMP Data Architecture
    dual-loop CH3: Drive Enable Wiring
    electrical requirements CH1: Host Computer Electrical Requirements
    encoders CH1: Host Computer Electrical Requirements, CH1: Host Computer Electrical Requirements
    expansion board CH6: Analog Inputs , CH6: Analog Inputs
    expansion boards CH1: Expansions and Add-ons, CH3: Connect System I/O
    faults CH6: Analog Inputs
    hardware CH1: XMP Hardware , CH1: XMP Controller Installation
    hardware architecture CH6: Architectural Overview
CH6: XMP Data Architecture
    homing CH6: XMP Data Architecture
    initialization CH6: SHARC DSP Processor Subsystem
    installation CH1: XMP Controller Installation , CH1: XMP Controller Installation
    main board CH6: Analog Inputs , CH6: Analog Inputs
    main-expansion connector CH2: Introduction
    memory subsystem CH6: Analog Inputs
    model numbers CH1: XMP Controller Configurations
    motion blocks CH6: Analog Inputs , CH6: Analog Inputs , CH6: SHARC DSP Processor Subsystem
    motor blocks CH6: Analog Inputs , CH6: Analog Inputs
XMP Controller (cont.)
    resets CH6: Analog Inputs
    safety precautions CH1: XMP Controller Installation
    SERCOS networks CH5: Assistance with SERCOS Networks
SIM4 module CH1: Expansions and Add-ons
    voltage and current specifications CH1: Host Computer Electrical Requirements
XMP-CPCI-3U bus interface CH2: CPCI-3U Bus
XMP-CPCI-3U input-output (I/O) CH4: CPCI-3U
XMP-CPCI-6U bus interface CH2: CPCI-6U Bus
XMP-CPCI-6U expansion boards CH2: CPCI-6U Bus
XMP-CPCI-6U input-output (I/O) CH4: Introduction, CH2: PCI Bus
XMP-PCI bus interface CH5: PCI Bus
XMP-PCI input-output (I/O) CH4: XMP-PCI ,
CH5: SERCOS Connection Hardware
XMP-PMC bus interface CH2: PMC Bus
XMP-PMC input-output (I/O) CH4: XMP-SERCOS-PMC
XMP hardware CH1: XMP Hardware -CH1: XMP Controller Installation
XMP interface
XMP-analog CH1: XMP Hardware
XMP-SERCOS CH1: XMP Hardware
XMP-analog
    electrical requirements CH1: Host Computer Electrical Requirements
XMP-analog hardware CH4: Introduction, CH4: Transceiver (XCVR) and User I/O Details
XMP-CPCI-3U
    bus interface CH2: CPCI-3U Bus
    controller installation CH1: XMP Controller Installation
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    input-output (I/O) CH4: CPCI-3U

XMP-CPCI-6U
    bus interface CH2: CPCI-6U Bus
    controller installation CH1: XMP Controller Installation
    expansion boards CH2: CPCI-6U Bus
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    input-output (I/O) CH4: Introduction CH2: PCI Bus
XMP-PCI
    bus interface CH5: PCI Bus
    controller installation CH1: XMP Controller Installation
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    input-output (I/O) CH4: XMP-PCI ,
CH5: SERCOS Connection Hardware
XMP-PMC
    bus interface CH2: PMC Bus
    controller installation CH1: XMP Controller Installation
    form factor CH1: XMP Hardware , CH1: XMP Hardware
    input-output (I/O) CH4: XMP-SERCOS-PMC