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MPI Objects Overview
Motor
Drive Communication
I/O (Home, Motor, Limit switches)
Encoder
Capture
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- high speed position capture (triggered by digital input)
- useful for homing
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Probe
- Latches and stores position or node clock data
- Triggers up to16 times within one controller sample
Compare
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- high speed position compare (triggers a digital output)
- useful for triggering some other instrument
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Filter
Control Algorithm (PID, PIV, custom)
Ouput filtering (postfilters)
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- biquad (6 filters)
- IIR (32 coefficients)
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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
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- Tuning (Motion Scope)
- Data correlation (ex: ADC inputs vs. axis position)
- System well being (Is a part about to fail?)
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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
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- Uses parameter "jerk percent"
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S-Curve Jerk
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- Specify acceleration and deceleration jerks
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Velocity
Velocity Jerk
PT
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- Linear interpolation (segments have constant velocity)
- Useful for streaming points
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PVT
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- Useful for specifying custom paths
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Spline
Bessel
Path
Motion Attributes
Delay
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- Wait for a period of time before starting a move
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Hold
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- Wait for a status or I/O change before starting a move
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SynqStart
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- Synchronize the start of motion for all axes
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SynqEnd
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- Synchronize the end of motion for all axes
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Special Case: Neither SynqStart or SynqEnd are used
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- Only one trajectory is used
- Useful for ensuring maximum accelerations and velocities are
not exceeded on x-y systems
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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.
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- Motion Console
- Motion Scope
- System Analysis Tools
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Useful for changing configurations if the server is
in a clean room.
Trajectory
Beyond the MPI
Firmware
The contoller firmware is written in C.
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- Easy to change/customize
- Can be compiled and downloaded quickly (under 5 minutes)
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