OMS - MAXk
MAXk Data Sheet
PCI 10-Axis Motion Controller
FEATURES
 PID update rate of 122 s on all 10 axes
Delivers exceptional servo control on multi-axis applications.
Identical outcomes when utilizing one or all axes of motion.
Configurable PID filter with feedforward coefficients.
 266 MHz, 32-bit RISC processor
Updates all signals and data points providing superior
application control. An order of magnitude faster than our
competition on an 8 axis controller.
 64k Shared Memory
Permits rapid data transfer to & from controller. Large size
accommodates expandability to unique and custom applications.
 PCI Universal Bus - 3.3 or 5.0 volts
PCI Rev 2.2 compliant. Compatible with current and future PCI
bus computers.
 Memory
 Controller I/O Capabilities
Additional Features
- All communication via Device Driver and
Driver Support DLL.
- Dual Port RAM is utilized for high-speed
communications
- PCI 33 MHz Target Device
- Independent and coordinated motion of
all axes.
- Slip & Stall detection with encoder
feedback.
- Patented technology to minimize torque
ripple and velocity modulation.
- Independent home, positive and
negative over-travel inputs.
- Non-volatile macro storage, parameter
storage.
- Linear/Circular interpolation
- Constant or Variable Velocity contouring
(all axes)
- Field upgradable firmware
Up to 4 Channels of general purpose Analog Input, with 16 bit,
+/-10 VDC input
Up to 12 Analog outputs, +/- 10 VDC output
Up to 16 user-definable digital I/O
Home and Limit for each axis
 Motion Feedback
Support Quadrature Encoder Feed back up to 16 MHz.
 Sophisticated Control Functionality
16 bit DAC analog resolution. Step pulses from 0 to 4,176,000
steps per second (+/- 0 steps). Backlash compensation.
Custom, Parabolic, “S”-curve & Linear trajectory profiles. Real
time encoder position capture. S-Curve with 4-quadrant jerk
parameters.
OMS, Inc.
2 High density shielded 100 pin connectors
- 2x 100 Pin connectors
32 MB System Memory.
Tel: (503) 629-8081 (800) 707-8111
 Control signals
- Firmware upgrades and enhancements
- Customizable solutions available for your
requirements
- Example programs and application code
provided
- Web page support for downloading
software and documentation
- Person to person toll-free tech support call 800-707-8111
Fax: (503) 629-0688
www.OMSmotion.com
Beaverton, Oregon
MAXk - 2
a context switch that allows entering commands of the
DESCRIPTION
format
The MAXk is a full length PCI bus motion controller that
conforms to the PCI Local Bus specification, rev 2.2. The
MRx#,y#,z#,t#,u#,v#,r#,s#,w#,k#;
MAXk is capable of up to 10-axis of control of which each
Numbers are entered for each axis commanded to move.
axis can be configured as an open loop stepper, a closed
An axis may be skipped by entering the comma with no
loop stepper, or a servo axis.
parameter. The command may be prematurely terminated
The MAXk is powered by a PowerPC processor. This high
with a “;”, i.e, a move requiring only the X and Y axes would
performance processor provides a 64-bit Floating Point
use the command MRx#,y#; followed by the GO command.
processor and is clocked at 266MHz. This provides the
Each axis programmed to move will start together upon
MAXk with the pure processing power to update every
executing the GO command. The MAXk can be switched
signal of the controller, i.e. I/O bits, direction, limits, etc., at
back to the independent-axis mode by entering the desired
rates of 122μs.
single axis command such as AX.
The MAXk supports up to 16 general purpose digital I/O
signals. In addition it has four general purpose analog
inputs that can be used to sense Pressure Transducers,
Dial Switches, etc. Analog inputs can also be used to
control velocity override. These analog inputs have 16-bit
resolution with +/- 10 VDC input.
Each axis has servo output signal capability; configured as
a +/- 10V or 0-10V signal and is driven by a 16-bit DAC.
The servo control loop is a PID filter with feedforward
coefficients and an update rate of 122μs. The step pulse
is a TTL level, 50% duty cycle square wave that supports
velocities of 0 through 4,176,000 pulses per second.
Encoder feedback functionality supports quadrature
encoders up to 16 MHz and is used as the servo feedback,
as feedback for the stepper axes or as independent
position feedback. Encoder feedback is also used to
provide slip and or stall detection. Every axis includes
dedicated +/- over travel inputs, a home input, and an
auxiliary output. The MAXk is available in several different
models that support a different number of axes.
PROGRAMMING EXAMPLES
In a typical move requirement where it is desired to home
the stage then move to a specified position, the following
will demonstrate the programming for a single axis:

The following would be input from the host computer:
AX;
VL5000;
AC50000;
KP20;
KI1;
KD45;
HN;
HM0;
MA10000;
GO;
PROGRAMMING
MAXk motion controllers are easily programmed with
ASCII character commands through an extensive
command structure. These commands are combined into
character strings to create sophisticated motion profiles
with features of I/O and other functionality. A separate
FIFO command queue for each axis is used to store the
commands once they are parsed by the MAXk. The
commands are executed sequentially, allowing the host to
send a complex command sequence and attend to other
tasks while the MAXk manages the motion process.
These command queues store 2559 command values and
include a command loop counter which allows multiple
executions of any queued command.
All commands are sent to the controller as two or three
character ASCII strings. Some of these commands expect
one or more numerical operands to follow. These
commands are identified with a ‘#’ after the command.
The ‘#’ indicates a signed integer input parameter or a
signed fixed point number of the format ##.# when user
units are enabled. User Units define distances, velocity
and acceleration parameters and may be inputted in
inches, millimeters, revolutions, etc.
Synchronized moves may be made by entering the AA or
AM command mode. This form of the command performs
OMS, Inc.
Initialize the velocity and acceleration parameters to a
suitable value. Set PID filter gain values. Perform the
home operation initializing the position counter to zero.
Perform a motion to an absolute position of 10,000 and
set the done flag for that axis when the move is
finished.
In a move requiring a three axis coordinated move, to a
select position the following commands could be used:
AM;
VL5000,5000,5000;
AC50000,50000,50000;
MT1000,2000,3000;
GO;
ID;
The controller would calculate the relative velocities
required to perform a straight line move from the current
position to the desired absolute position so that all axes
arrive at their destinations at the same time.
The following demonstrates cutting a hole with a 10,000
count radius using constant velocity contouring and circular
interpolation:

The contouring velocity is set to 1000 counts per
second. A contour is defined beginning at coordinates
0,0 on the Z and T axes.
Beaverton, Oregon




MAXk - 3
Auxiliary output on the X axis is turned on, which could
Limit switch inputs
turn on the cutting torch or laser starting the cut at the
TTL input levels. Input sense (low or high true)
center of the circle.
selectable by command input for each axis.
A half circle is cut from the center to the outside of the
Connector
hole positioning the cutting tool at the start of the hole.
Two 100-Pin SCSI type connectors for all control
The hole is then cut, the torch turned off, the stage
and I/O signals, shielded. Controller models with 5
stopped and the contour definition completed.
or less axes provide only half of the possible I/Os
The stage is then positioned and the contour definition
on one connector.
executed.
The following would be input from the host computer:
AA;
CV1000;
CD,,0,0;
AN;
CR0,5000,-3.1415926;
CR0,0,-6.2831853;
AF;
MT-10,10000;
CE;
MT,,-1000,0;
GO;
CX;
SPECIFICATIONS
Velocity
0 to 4,176,000 pulses per second simultaneous on
each axis
Acceleration
0 to 8,000,000 pulses per second per second
Position range
± 2,147,487,647
Accuracy
Position accuracy and repeatability ±0 counts for
point to point moves
Environmental
Operating temperature range: 0 to 50 degrees
centigrade
Storage temperature range: -20 to 85 degrees
centigrade
Humidity: 0 to 90% non-condensing
Home switch inputs
TTL input levels. Input sense (low or high true)
selectable by command input for each axis.
Accuracy to 1 encoder count
User definable I/O
Up to 16 bits of user definable Digital I/O. 16 bits
are user configurable that are configured as 8
inputs and 8 outputs from the factory.
Analog inputs
Four analog inputs, +/-10V, 16 Bit resolution
Analog outputs
+/-10V and 0 to +10V,max. 1mA each, 16-bit
resolution. One per axis plus two general purpose.
Step pulse output
Pulse width 50% duty cycle. Actively driven TTL
level signal (max 12mA).
Direction output
Actively drive TTL level signal (max 12mA).
Incremental Encoder Feedback
Maximum 16 MHz after 4x quadrature detection.
Differential TTL level signal (26LV32, max 15mA).
Absolute Encoders
SSI Technology
X and Y axes up to 12 bits resolution. (default)
Optional: absolute encoders are available up to 32
bits resolution for each axis.
Reference
PCI specification, Rev. 2.2.
PCB mechanical specification, IEEE 1101.1,
1101.10 and P1101.11
Software
Power
+5VDC +/-5% at 1 amp typical
+3.3VDC +/-0.3% at 0.6 amps typical
+12VDC at 0.1 amp typical = +/-5%
-12VDC at 0.1 amp typical = +/-10%
Dimensions
12.283” x 4.200” x 0.475”
312 mm x 106mm x 12.06 mm
Communication Interface
Meets all signal specifications for PCI bus
Specifications, Rev. 2.2.
Is backward compatible with MAXp
OMS, Inc.
High level expertise not required.
Over 250 ASCII character commands, expanded
from current OMS command set
Software drivers and DLLs for Windows® provided
at no additional cost
User Manual included
Servo Tuning Assistant software tools included
Support software available for download at our
web-site (www.Pro-DexOMS.com)
Beaverton, Oregon
MAXk - 4
ORDERING INFORMATION
I/O
Model
Computer
Interface
Axes
Servo / Stepper
Limit
Auxiliary
Home
2
4
6
8
10
12
14
16
18
20
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
MAXk-1000
MAXk-2000
MAXk-3000
MAXk-4000
MAXk-5000
MAXk-6000
MAXk-7000
MAXk-8000
MAXk-9000
MAXk-A000
CBL58-3M
1
User Definable
2
User Definable
3
User Definable
Universal
4
User Definable
PCI
5
User Definable
6
User Definable
7
User Definable
8
User Definable
9
User Definable
10
User Definable
100-Pin, 3 meter cable (1 per 5 axes)
CBL100-1
100-Pin, ribbon cable, 1 ft.
IOMAXnet
100-Pin Connector Breakout Module (1 per 5 axes)
CBLk
Internal MAXk cable for 6-axes or more
Digital
General
Purpose
8
8
8
8
8
16
16
16
16
16
Analog
In
Out
2
2
2
2
2
4
4
4
4
4
2
3
4
5
6
8
9
10
11
12
15201 NW Greenbrier Pkwy, B-1
Beaverton, Oregon 97006
USA
(503) 629-8081, (800) 707-8111
Fax: (503) 629-0688
www.OMSmotion.com
3701-1900000
Rev. B
OMS, Inc.
Beaverton, Oregon
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