MPI Objects Overview 2

MPI Objects Overview

Motor
Drive Communication
I/O (Home, Motor, Limit switches)
Encoder

Capture

high speed position capture (triggered by digital input) useful for homing

Probe

• Latches and stores position or node clock data
• Triggers up to16 times within one controller sample

Compare

high speed position compare (triggers a digital output) useful for triggering some other instrument

Filter
Control Algorithm (PID, PIV, custom)
Ouput filtering (postfilters)

biquad (6 filters) IIR (32 coefficients)

Axis
Represents a physical axis
Trajectory calculations
Position information

Motion (Supervisor)
Coordinates motion between axes
Responsible for clearing errors

Recorder
Record any 32 locations of controller memory at 10kHz continuously in real time
Large buffer on controller
Useful for 

Tuning (Motion Scope) Data correlation (ex: ADC inputs vs. axis position) System well being (Is a part about to fail?)

EventMgr (Event Manager)
Responsible for distributing gathering and distributing events
NOTE: mpiEventMrgFlush() flushes events from associated notify objects, not from the event pool

Notify 
Report events

Platform
Useful for translating memory addresses between the host PC and the XMP

Motion Types
Trapezoidal
S-Curve

Uses parameter "jerk percent"

S-Curve Jerk

Specify acceleration and deceleration jerks

Velocity
Velocity Jerk
PT

Linear interpolation (segments have constant velocity) Useful for streaming points

PVT

Useful for specifying custom paths

Spline
Bessel
Path

Motion Attributes
Delay

Wait for a period of time before starting a move

Hold

Wait for a status or I/O change before starting a move

SynqStart

Synchronize the start of motion for all axes

SynqEnd

Synchronize the end of motion for all axes

Special Case: Neither SynqStart or SynqEnd are used

Only one trajectory is used Useful for ensuring maximum accelerations and velocities are not exceeded on x-y systems

Server
A computer without XMP (client) can communicate efficiently with a computer with an XMP (server) over an Ethernet connection. The client can then run any application writtten with the MPI over the Ethernet connection. This is useful for using Windows based Tools if the server is running at RTOS.

Motion Console Motion Scope System Analysis Tools

Useful for changing configurations if the server is in a clean room.

 

Trajectory

 

Beyond the MPI

Firmware
The contoller firmware is written in C.

Easy to change/customize Can be compiled and downloaded quickly (under 5 minutes)