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The ECP's DSP based data processing board provides precision high speed performance for real-time control execution, trajectory generation, data acquisition, system I/O support, and safety limit monitoring. It's advanced capability supports the execution of control schemes ranging from elementary to advanced. In combination with ECP's proprietary firmware, the M56001 based hardware is capable of executing up to 46 term control in 48/96 bit precision at rates up to 1.1 kHz. This supports the use of high order filters and the implementation of continuous time control designs (the sample rate may of course be slowed to study discrete-time effects.)
The board acquires up to 34,000 x 48 bit data samples at rates up to 1.1 kHz. It also contains two standard plus two optional 16 bit DAC's. Two provide control effort output to the I/O electronics box and the two optional ones may be used for the real-time analog output of any system states. These may be viewed on an oscilloscope, plotter, or spectrum analyzer. The board also includes four encoder counters with 48 bit range @ 10 MHz to reliably provide position data at all system speeds and travel ranges. All I/O signals are opto-isolated for noise immunity. This board is a version of PMAC technology provided through Delta Tau Data Systems of Northridge California and incorporates ECP's special I/O configuration and proprietary firmware.
In addition to real-time control support, ECP's imbedded firmware carries out important system safety functions. It continuously monitors the system for mechanical over-travel, over-speed, motor-amplifier over-current, and processor fault (watch-dog function) and safely disables the system drive should any out-of-tolerance condition occur. These features have proven to be of great value in assuring that ECP systems reliably stand up to continuous use in the laboratory.
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