The Commander core is based on the PCL6045BL motion control LSI and an ARM Core processor.

Power

  • +3.3VDC Power Input
  • 3.3V logic level, 5V tolerant

Communication

  • USB 2.0, HID compatible. No driver signature required.
  • RS-485 ASCII, selectable 9600, 19200, 38400, 57600, 115200 baud rates available
  • I2C bus [1 channel], available for future expansion for interface with external IC
  • SPI bus [2 channels], available for future expansion for interface with external IC
  • Ethernet, available for future expansion

Control

  • Command control from PC through USB or serial communication
  • Standalone control allows operation separated from PC, using a BASIC-like programming language (A-SCRIPT)

Utility software

  • Allows for operation check by utility software
  • Compile, write and read standalone programs

Motor interface

  • Maximum pulse output rate of 6.55M PPS 
  • Stepper motor interface with pulse, direction, and enable outputs for XYZU
  • Servo motor interface with pulse, direction, enable, in-position, servo alarm, and error clear outputs for XYZU

Homing routines

  • 13 different built-in homing routines available

Positioning operations

  • Selectable trapezoidal or s-curve acceleration
  • Automatic high-speed correction
  • Selectable absolute or incremental positioning
  • On-the-fly speed change (speed overridden during movement).
  • On-the-fly target position change (target position overridden during movement).
  • Coordinated motion
    • Linear (XYZU) (2 to 4 axis)
      • Only one linear interpolation set can be executed at a time.
    • Circular/Arc (any two axes)
    • Helix/Tangential (XYZ)
    • Continuous linear/circular/arc coordinated buffered motion for XYZ axis
  • Control using manual pulse generator (MPG)
    • Electronic camming
    • Electronic gearing
    • Encoder Frequency and Impulse Multiplier/Divider
    • Manual fine axis control

Inputs/outputs

  • With integrated noise filter, to reduce switch bounce
  • A/B/Z encoder inputs for XYZU (TTL Compatible)
    • Maximum frequency of 6.5 MHz (26M counts with 4x multiplication)
    • StepNLoop closed-loop position verification algorithm (XYZU)
  • Manual pulse generator (MPG) operation
    • A/B pulse inputs for XYZU (TTL Compatible)
    • Maximum frequency of 6.5 MHz (26M counts with 4x multiplication)
  • Digital I/O
    • 4 designated high-speed inputs
    • 4 designated high-speed outputs
    • +Limit/-Limit/Home inputs for XYZU
    • Simultaneous start input
    • Emergency stop input
    • 32 configurable I/O
    • Latching input
    • Synchronization Pulse output
  • Analog I/O
    • Two 10-bit analog input
    • Two PWM outputs
    • Joystick operation with analog input (X-axis, Y-axis)

Firmware upgrade and downgrade via USB firmware loader.

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