MAXnet Pg.

MAXnet
Ethernet 5-Axis Motion Controller
FEATURES
Ethernet or RS232 Communications Control signals
 Ethernet utilizes standard TCP/IP protocol.  Single 100-pin SCSI type connector for high
 RS232 Baud rate = 9600 to 115.2K density signal connection.
PID update rate of 122 s on all 5 axes  8 “user definable” digital I/O.
 Delivers exceptional servo control on multi-  Analog out per each axis can be used as general
axis applications. purpose when axis is configured for Step control.
 Identical outcomes when utilizing one or all
axes of motion.
 Configurable PID filter with feed forward ADDITIONAL FEATURES
coefficients.
266 MHz, 32-bit RISC processor - Small form-factor, 4in. x 6.5in.
 Updates all signals and data points providing - Stand-alone capability
superior application control. - Custom Power-up Defaults
Controller I/O Capabilities - Non-Volatile Macro Storage
 Each axis has +Limit, -Limit, Home, Auxiliary - Patented technology to minimize torque ripple and
out, and axis control out. velocity modulation
 8 General purpose bi-directional TTL I/O - Internal Watchdog timer for safety
 1 General purpose analog output with 16 bit, - Slip & Stall detection with encoder feedback
+/-10 VDC input (in addition to axes output). - Linear/Circular interpolation
 2 Channels of general purpose analog input - Constant and variable velocity contouring (all axes)
with 16-bit (+/-10 VDC) - Single-axis, multi-axis and multi-tasking modes
Motion Feedback - Output is +/-10V, or Step & Direction per Axis
 Each axis has an incremental encoder input - Independent home and plus / minus over-travel
 Quadrature Encoder Feed back up to 16 MHz inputs for each axis
on all encoder inputs. - Auxiliary output per axis for Amp/Drive enable
Sophisticated Control Functionality - Commands are intuitive for programming ease.
 16 bit DAC analog resolution. - Over 250 ASCII character commands, “universal”
 Step pulses from 0 to 4,194,303 steps per to current and previous OMS controllers
second (+/- 0 steps). - Capable of conversion to “user” defined units i.e.
 Backlash compensation. inches/ revolutions if desired.
 Custom, parabolic, “S”-Curve & linear trajectory - Designed for expandability (custom solutions)
profiles. - Person to person toll-free tech support:
 Real time encoder position capture. 800-707-8111
 S-Curve with 4-quadrant jerk parameters. - OMS has more than 28 years proven success

Tel: (503)629-8081 or (800)707-8111 Fax: (503)629-0688 [Link]

Pro-Dex, Inc. Beaverton, Oregon
MAXnet Pg. 2
DESCRIPTION
The MAXnet family of Motion Controllers brings the Synchronized moves may be made by entering the AA or
Oregon Micro Systems, Inc. (OMS) intelligent motion AM command mode. This form of the command performs
control technology to a new level of servo applications as a context switch that allows entering commands in the
well as stepping motors. A much more powerful 266 format MRx#,y#,z#,t#,u#;
MHz 32 Bit RISC processor (PowerPC) provides the Numbers are entered for each axis commanded to move.
capability and power for better and more sophisticated An axis may be skipped by entering a comma {,} at the
application control. This newest generation of motion appropriate axis position with no value parameter. The
control products provides up to 5 axes of motion control command may be prematurely terminated with a
on a single 4 x 6.5 inch card. Each axis can be selected semicolon (;) i.e. a move requiring only the X and Y axes
by the user to be an open or closed stepper or a high to move would use the command MRx#,y#; followed by
capability servo axis. In addition, independent analog the GO command. Each axis programmed to move will
inputs are provided to enable integration of analog start together upon execution of the GO command. The
parameters such as velocity override, temperature, MAXnet can be switched back to independent-axis mode
pressure, etc., under the control of the running by entering the desire single axis command, such as AX.
application. An additional general purpose analog output
is also available. PROGRAMMING EXAMPLES
In a typical move requirement where it is desired to home
Outputs are provided for 16 bit analog servo output as the stage and then move to a specified position, the
well as step and direction for stepper system following will demonstrate the programming for a single
applications. The servo loop is a PID filter with feed- axis:
forward coefficients and an update rate of 122 s on all 5 Initialize the velocity and acceleration parameters to a
axes. Independent plus and minus limits, a home switch suitable value. Set the PID filter gain values. Perform the
input, and an auxiliary output provided for each of the 5 homing operation initializing the position counter to zero.
axes so that the state of any of them can be monitored Perform a motion to the absolute position of 10,000 and
by the system at any time. An additional 8 User set the done flag for that axis when the move is finished.
Definable I/O is available for synchronization and control
of other events. Incremental encoder feedback, AX;
differential or single ended, is used for all servo axes and VL5000;
is available for position feedback and may also be used AC50000;
for slip or stall detection. KP20;
KI1;
KD45;
HN;
PROGRAMMING HM0;
The MAXnet motion controllers are easily programmed MA10000;
with character ASCII commands through an extensive GO;
command structure. The commands are combined into ID;
character strings to create sophisticated motion profiles,
with features such as IO and other functionality. A In a move requiring a three axis coordinated move to a
separate FIFO command queue for each axis is used to position, the following could be used:
store the commands once they are parsed in the AX;
MAXnet. These commands are then executed KP2;
sequentially, allowing the host to send a complex KD6;
command sequence and attend to other tasks, while the HN;
MAXnet manages the motion process. These command AY;
queues can store 2559 command values and can include KP2;
a loop counter that allows multiple execution of any KD6;
command string. HN;
AZ;
There are approximately 200 commands available. All KP2;
commands are sent to the controller as two or three KD6;
character strings. Some of these commands expect one HN;
or more numerical operands to follow. These commands AM;
are identified with“#” after the command in the VL5000,5000,5000;
description. The “#” indicates a signed integer input AC50000,50000,50000;
parameter, or a signed fixed point number of the format MA1000,2000,3000;
##.# when User Units are enabled. User Units define GO;
distances, Velocity and acceleration parameters, and ID;
represent the input in Inches, millimeters, revolution, etc. The controller would calculate the relative velocities
required to perform a straight line move from the current
position to the desired position.
Pro-Dex, Inc. Beaverton, Oregon
MAXnet Pg. 3

SPECIFICATIONS
Velocity Analog outputs (servo)
0 to 4,194,303 pulses per second simultaneous on +/-10V and 0 to +10V, max. One per axis plus
each axis one general purposes, 16 Bit resolution
Acceleration
0 to 8,000,000 pulses per second per second Step pulse output
Position range Pulse width 50% duty cycle. Open collector level
± 2,147,487,647 signal (TTL).

Accuracy
Direction output
Position accuracy and repeatability ±0 counts for
point to point moves Open collector level signal (TTL).

Velocity accuracy ±0.01% of peak velocity in jog

Encoder feedback
mode.
Maximum 16 MHz after 4x quadrature detection.
Environmental Differential signal.
Operating temperature range: 0 to 50 degrees
centigrade
Reference
Storage temperature range: -20 to 85 degrees IEEE 802
centigrade
Humidity: 0 to 90% non-condensing Software
Power Software interface utilities provided.
+5VDC +/-5% at 1 amp typical High level expertise not required.
+12VDC at 0.1 amp typical = +/-5% Over 250 ASCII character commands, expanded
-12VDC at 0.1 amp typical = +/-10% from current OMS command set while backwards
compatible.
Dimensions
4” x 6.5” x 0.7”
Limit switch inputs
TTL input signals
Active low or high, selectable by command input
for each axis (active low is default)

Connector
One shielded 100-Pin SCSI type connector for all
signals (motor control, I/O, Limits, etc). Breakout
board available for ease of cabling.

Home switch inputs

TTL input signals
Active low or high, selectable by command input
for each axis (active low is default)

User definable I/O

Up to 8 bits of user definable digital I/O. The 8
bits are user configurable and are configured as “The Company in Motion”
4 inputs and 4 outputs as defaults from the
factory. [Link] (800) 707-8111

Analog inputs
Two independent analog inputs, 16 Bit
resolution, +/- 10V.

Pro-Dex, Inc. Beaverton, Oregon

MAXnet Pg. 4

Control Signals
100-Pin
SCSI Type
4”
Power RS232 Ethernet
6-Pin 9-Pin RJ45

6.5”

Ordering Information
Model No. of Axes
MAXnet-1000 1
MAXnet-2000 2
MAXnet-3000 3
MAXnet-4000 4
MAXnet-5000 5

ACCESSORIES
IOMAXnet I/O Breakout Board for MAXnet
CBL58-3M I/O cable for MAXnet to IOvMAX, 3 15201 NW Greenbrier Pkwy
meters B-1 Ridgeview
Beaverton, Oregon 97006
USA

3701-1800000 (503) 629-8081, (800) 707-8111

Revision C-Draft Fax: (503) 629-0688
[Link]

Pro-Dex, Oregon Micro Systems Beaverton, Oregon