The Magellan programmable motion processor chip from Performance Motion Devices (Lincoln, MA) controls any combination of DC brush, brushless DC, microstepping, or pulse and direction motors. Each controlled axis supports profile generation, servo loop closure, PLC-style signal manipulation, and motor signal generation. Advanced features include programmable PID filters with velocity and acceleration feed-forward, 32-bit position error, and 50 microsecond loop time. Selectable profile modes include S-curve, trapezoidal, velocity contouring, and electronic gearing.
The chip is driven by a host microprocessor using a CANbus 2.0B 8- or 16-bit parallel bus, or an asynchronous serial port. Eight 10-bit analog inputs regulate parameters such as position velocity, and acceleration from the host to generate corresponding trajectories.