The Kollmorgen 104/DSP is a PC/104 motion controller built around a 40 MHz DSP processor for real-time motion control in embedded systems. It distributes computation between the onboard DSP (real-time algorithms) and host CPU (non-real-time functions), enabling sophisticated multi-axis servo and stepper control with minimal host overhead. The card communicates with the host at up to 1.2 MB/second across the PC/104 bus and supports command buffering with on-board sequence storage to reduce host intervention.
## Technical Specifications
**Processing & Communication**
• 40 MHz DSP processor (Analog Devices)
• PC/104 bus interface: up to 1.2 MB/second host communication
• Servo loop update rate: user-programmable
• Motion sequence buffering: up to 600 frames on-board
**Motion Control**
• Axes: 4 axes (standard); 8 axes (104X/DSP extended form factor)
• Motor support: servo and stepper motors
• Motion profiles: trapezoidal, S-curve, parabolic, custom
• Advanced capabilities: electronic gearing, camming, circular and linear interpolation, dual-loop control, point-to-point and coordinated motion
• Control algorithm: second-order PID with velocity, acceleration, and friction feed-forward; optional post-PID notch filter for mechanical resonance suppression
**Analog & Digital I/O**
• Servo output: ±10V DC at 16-bit resolution
• Step output: 375 kHz step/direction at 16-bit pulse rate resolution
• Encoder input: up to 5 MHz incremental feedback; SSI format with optional daughter board adaptor
• User I/O: 20 lines (standard); 44 lines (104X/DSP)
• Dedicated axis I/O: TTL compatible, 4.0 mA drive
## Key Features
• C-programmable via Motion Engineering, Inc. (MEI) function library (250+ motion control functions)
• Compiler compatibility: Microsoft, Borland, Watcom, Symantec, and others
• Shared execution model minimizes host CPU load for real-time applications
• 16-bit servo output and encoder feedback resolution
• High-speed step output for stepper applications
## Typical Applications
Industrial automation, robotics, precision positioning systems, and specialized embedded motion control requiring deterministic real-time performance.
## Compatibility & Integration
PC/104 standard form factor (extended variant available for 8-axis and expanded I/O). Integrates with standard C development environments and supports both incremental encoder and SSI feedback interfaces.
