DM&P Vortex86DX2in

Motion Control

DMP Electronics Inc.

The Vortex86 SoC Family

CPUCPU

North North BridgeBridge

South South BridgeBridge

BIOSBIOS

I/OI/O

K/BK/B

I/OI/O

2sizesize

costcost

Shrinking the entire motherboard Shrinking the entire motherboard into a tiny chipinto a tiny chip

x86x86 isn’t just a PC isn’t just a PC x86x86 as a MCU, as a MCU, x86x86 as a DSP, … as a DSP, …

The Vortex86 SoC Family

• Jul. 1998• 40MHz• 0.50 um(2007 EOL)

• Feb. 2007• 300MHz• 0.13 um

• Aug. 2008• 800MHz• 90 nm

• Jun. 2009• 1GHz• 90nm • GPU

• Jun. 2010• 1GHz• 90nm • GPU

• Q1 2012• 1GHz• 90nm• GPU• Motor/Motion Ctrl.

DMP Design x86 SoC since 1995DMP Design x86 SoC since 1995Guaranteed 10 Years Long Term Guaranteed 10 Years Long Term SupplySupply

Vortex86 SoC RoadmapTarget Applications

HMI /

Motion Control

Embedded /

Thin Client /

HMI

Embedded Controller

Microprocessor (uP)

CPU Clock Speed 300MHz 500MHz 800MHz 1GHz 1.5GHz

SXSX

DXDX

MX/MX+MX/MX+

DX2DX2

DX3 40nm

EXEX

Key Benefits of Vortex86 SoC x86 Instruction Set Compatiblex86 Instruction Set Compatible

Highly IntegratedHighly Integrated

Simplified system designSimplified system design

Low system BOM costLow system BOM cost

Low Power ConsumptionLow Power Consumption

Fan-less designFan-less design

Long Term SupplyLong Term Supply

The Vortex86DX2 SoCThe 1st The 1st x86x86 SoC with SoC with

Integrated Motion/Motor-Control Interface !!!Integrated Motion/Motor-Control Interface !!!

VGA

USB

LAN

PCI-E/ISA

Audio

RS232/RS485

SATA

Servo

Encoder

DRAM(DDR II)

Vortex86DX2

CPUCPU NBNB

Motion/Motor ControlMotion/Motor Control

GPUGPU

FPUFPU BIOSBIOS SBSB

Key Specifications of Vortex86DX2

CPUCPU 800MHz / 1000 MHz800MHz / 1000 MHz

x86x86 Compatible, Support FPU & ACPI Compatible, Support FPU & ACPI

DRAMDRAM 400MHz DDR2 DRAM (up to 2GB)400MHz DDR2 DRAM (up to 2GB)

CacheCache - L1: 16K I-Cache, 16K D-CacheL1: 16K I-Cache, 16K D-Cache- L2: 4-way 256KB L2 CacheL2: 4-way 256KB L2 Cache

GPUGPU - 2D Graphics Engine2D Graphics Engine- 720 720 480 x 30fps Capture-In 480 x 30fps Capture-In- VGA / DVO (TTL 18 or 24-bit)VGA / DVO (TTL 18 or 24-bit)- 12-bit TV-out12-bit TV-out- HDMI (with HMI transmitter EP32M or ITE6610)HDMI (with HMI transmitter EP32M or ITE6610)- 1280 x 1024 @ 32bpp1280 x 1024 @ 32bpp

Key Specifications of Vortex86DX2

BusBus - PCI-E (PCI-E (1) Slots 1) Slots 2 2- 16-bit ISA (8.3MHz / 16.6MHz / 16-bit ISA (8.3MHz / 16.6MHz / 33MHz33MHz))

Mass StorageMass Storage - Parallel IDEParallel IDE- SD CardSD Card- SATA-ISATA-I

AudioAudio High Definition AudioHigh Definition Audio

LANLAN Ethernet 10/100MbpsEthernet 10/100Mbps

USBUSB USB Host 2.0 USB Host 2.0 4 Ports 4 Ports

USB Device 1.1 USB Device 1.1 1 Port 1 Port

Key Specifications of Vortex86DX2

I/O InterfaceI/O Interface - UART x 9 PortsUART x 9 Ports- SPI SPI 2 Ports 2 Ports- II22C C 2 Ports 2 Ports- GPIO GPIO 10 Ports 10 Ports- Parallel Port (SPP/EPP/ECP) Parallel Port (SPP/EPP/ECP) 1 1- PS2 Keyboard/MousePS2 Keyboard/Mouse

Motion/Motor-Motion/Motor-

Control Control

InterfaceInterface

12 Motion-Control Modules, to support12 Motion-Control Modules, to support- Pulse/DIR, CW/CCW, Pulse A/B outputPulse/DIR, CW/CCW, Pulse A/B output- Edge-/Center-aligned PWM outputEdge-/Center-aligned PWM output- Quadrature Encoder InterfaceQuadrature Encoder Interface- SSI Absolute Encoder InterfaceSSI Absolute Encoder Interface- Hall Sensor InterfaceHall Sensor Interface

Supported Operating Systems

Performance Comparison with LX800

DM&P Vortex86DX2 @ 1GHzDM&P Vortex86DX2 @ 1GHz

AMD Geode LX800AMD Geode LX800

performance test by HDBENCH v3.40performance test by HDBENCH v3.40

Design Goals of Vortex86DX2

More Computing PowerMore Computing Power

Higher IntegrationHigher Integration

CPU + FPU + GPU + NB + SB + I/O in a single chipCPU + FPU + GPU + NB + SB + I/O in a single chip

Richer I/ORicher I/O

9 UART ports, Motion/Motor-control interface, …9 UART ports, Motion/Motor-control interface, …

Optimized for Real-Time I/O ApplicationOptimized for Real-Time I/O Application

100MHz 8051 I/O coprocessor100MHz 8051 I/O coprocessor

Optimized I/O & interrupt responding timeOptimized I/O & interrupt responding time

Motion-Control Modulesof

Vortex86DX2

Motion-Control Modules (MCMs)

x86core

PCI

Motion-Control Module 0

Motion-Control Module 1

Motion-Control Module 11

South Bridge

8051core

8051I/O Bus

Vortex86DX2Vortex86DX2

Integrate a total of Integrate a total of 12 motion-control modules (MCMs)12 motion-control modules (MCMs) in South in South Bridge to support at max. Bridge to support at max. 72 pins72 pins for motion/motor control for motion/motor control

servoservo

motormotor

encoderencoder

Motion-Control Modules (MCMs)

Make FullyMake Fully PC-Based PC-Based Platform PossiblePlatform Possible

PC-BasedHMI/Host Controller

PC-BasedMotion-Control

Card

PC-Based Servo Driver

Machine,

AC Motor

Encoder, Home/Limit Switch

Vortex86DX2 as an Open Motion-Control

Platform Reduce System CostReduce System Cost

x86 core & motion-control interface in a single chipx86 core & motion-control interface in a single chip

Easy to Support Mainstream Field-BusEasy to Support Mainstream Field-Bus

EtherCAT, MECHATROLINK, CANopen, …EtherCAT, MECHATROLINK, CANopen, …

Open PC-Based ArchitectureOpen PC-Based Architecture

Wide range of development resources

Ease of migration, integration, and maintenance

Intended Applications

CNC MachineCNC MachineAOI MachineAOI Machine

Motion ControllerMotion Controller

Rubber MachineRubber Machine

RobotRobot

PAC/PLCPAC/PLC

Motor ControllerMotor Controller

Feature Overview of MCMs

4 Modes for Motion Control4 Modes for Motion Control

ModeMode ApplicationApplication

Servo modeStepping motors,

AC servo drivers

Encoder mode Incremental encoders

SSI mode SSI absolute encoders

Capture modeTachometers,

Home/limit switches

Feature Overview of MCMs

2 Modes for Motor Control2 Modes for Motor Control

ModeMode ApplicationApplication

PWM mode

DC motors,

Brushless DC (BLDC) motors,

PMSM motors,

AC Induction motors

Hall sensor mode Hall sensors in BLDC

Feature Overview of MCMs Max. 25MHz, 36-axis Pulse OutputMax. 25MHz, 36-axis Pulse Output

Support Pulse/DIR, CW/CCW, Pulse A/B outputSupport Pulse/DIR, CW/CCW, Pulse A/B output

Max. 25MHz, 24-axis 32-bit Encoder InputMax. 25MHz, 24-axis 32-bit Encoder Input

Support Pulse/DIR, CW/CCW, Pulse A/B inputSupport Pulse/DIR, CW/CCW, Pulse A/B input

Max. 12-axis 3-phase PWM outputMax. 12-axis 3-phase PWM output

Support edge-aligned & center-aligned PWM for Support edge-aligned & center-aligned PWM for

realizing SPWM & SVPWMrealizing SPWM & SVPWM

Key Specificationof

Motion-Control Modules

Servo Mode of MCM

MCM in Servo Mode

Servo AServo APulsePulse

DIRDIR

Servo BServo BCWCW

CCWCCW

Servo CServo CPulse APulse A

Pulse BPulse B

P-commandP-commandservo driverservo driver

steppingsteppingmotormotor

Supported Pulse Waveforms

Pulse/DIRPulse/DIR

CW/CCWCW/CCW

Pulse A/BPulse A/B

Motor Motor

Main Features of Servo Mode

Configurable Pulse ClockConfigurable Pulse Clock

Arbitrary rational clock between 10Hz ~ 25MHzArbitrary rational clock between 10Hz ~ 25MHz

Configurable Interpolation CycleConfigurable Interpolation Cycle

20 nanosecond ~ 100 second20 nanosecond ~ 100 second

Channel SynchronizationChannel Synchronization

Allow to begin and stop 32-axis pulse output Allow to begin and stop 32-axis pulse output

simultaneouslysimultaneously

Main Features of Servo Mode

Output MaskingOutput Masking

Allow to mask pulse output anytime by external I/O pinsAllow to mask pulse output anytime by external I/O pins

Implement emergency stop without software effortImplement emergency stop without software effort

Sufficient Interrupt SourcesSufficient Interrupt Sources

Interpolation cycle interruptInterpolation cycle interrupt

Pulse cycle interruptPulse cycle interrupt

User-defined interrupt eventUser-defined interrupt event

……

Encoder Mode of MCM

MCM in Encoder Mode

Encoder Encoder Interface AInterface A

AA

BB

Encoder Encoder Interface BInterface B

Z (index)Z (index)

AA

BB

Z (index)Z (index)

rotaryrotaryencoderencoder

linearlinearencoderencoder

Main Features of Encoder Mode

Support Pulse/DIR, CW/CCW, Pulse A/B InputSupport Pulse/DIR, CW/CCW, Pulse A/B Input

32-bit position counter, max. 25MHz input32-bit position counter, max. 25MHz input

Configurable Digital Noise FiltersConfigurable Digital Noise Filters

16-bit noise filter to remove 10ns (min.) ~ 655us (max.) 16-bit noise filter to remove 10ns (min.) ~ 655us (max.)

glitches on every input pinglitches on every input pin

Allow synchronous & asynchronous filtering of different Allow synchronous & asynchronous filtering of different

pinspins

Main Features of Encoder Mode

Position Compare FunctionPosition Compare Function

Z Index & External Trigger LatchZ Index & External Trigger Latch

Automatic Input Speed ComputationAutomatic Input Speed Computation

10ns timer resolution10ns timer resolution

Sufficient Interrupt SourcesSufficient Interrupt Sources

Direction-changing interruptDirection-changing interrupt

Z-index interruptZ-index interrupt

……

SSI Mode of MCM

MCM in SSI Mode

SSI Interface ASSI Interface A

SSI CLKSSI CLK

SSI DATASSI DATA

SSI Interface BSSI Interface B

SSI CLKSSI CLK

SSI DATASSI DATA

SSI absolute encoderSSI absolute encoder

Main Features of SSI Mode

Configurable SSI ClockConfigurable SSI Clock

Arbitrary clock between 10Hz ~ 25MHzArbitrary clock between 10Hz ~ 25MHz

Configurable Input ResolutionConfigurable Input Resolution

Support max. 32-bit SSI encoderSupport max. 32-bit SSI encoder

Gray-to-Binary ConversionGray-to-Binary Conversion

Data-Format Error CheckingData-Format Error Checking

Capture Mode of MCM

MCM in Capture Mode

Capture InterfaceCapture Interface

Digital IN 1Digital IN 1

Digital IN 2Digital IN 2

Digital IN 3Digital IN 3

Digital IN 4Digital IN 4

Digital IN 5Digital IN 5

Digital IN 6Digital IN 6

HOME/LIMIT switchHOME/LIMIT switch

TachometerTachometer

Main Features of Capture Mode

Pulse Width MeasurePulse Width Measure

28-bit timer in 10ns resolution28-bit timer in 10ns resolution

Programmable Input TriggerProgrammable Input Trigger

Level triggerLevel trigger

Edge trigger by raising edge, falling edge, or bothEdge trigger by raising edge, falling edge, or both

One-shot trigger mode & continuous trigger modeOne-shot trigger mode & continuous trigger mode

User-defined trigger eventsUser-defined trigger events

Main Features of Capture Mode

Configurable Digital Noise FiltersConfigurable Digital Noise Filters

16-bit noise filter on every input pin16-bit noise filter on every input pin

Synchronous & asynchronous filtering of different pinsSynchronous & asynchronous filtering of different pins

Sufficient Interrupt SourcesSufficient Interrupt Sources

Capture event interruptCapture event interrupt

Trigger interruptTrigger interrupt

……

PWM Mode of MCM

MCM in PWM Mode

3-Phase 3-Phase Complementary Complementary PWM InterfacePWM Interface

PWM U+PWM U+

PWM UPWM U

PWM W+PWM W+

PWM WPWM W

PWM V+PWM V+

PWM VPWM V

Supported PWM Waveforms

Edge-Aligned PWMEdge-Aligned PWM

Center-Aligned PWMCenter-Aligned PWM

PWM U+

PWM V+

PWM W+

PWM U+

PWM V+

PWM W+

Main Features of PWM Mode

High-Resolution PWMHigh-Resolution PWM

32-bit PWM duty & period in 10ns resolution32-bit PWM duty & period in 10ns resolution

Configurable Sampling CycleConfigurable Sampling Cycle

1 PWM period ~ 21 PWM period ~ 22929 PWM periods PWM periods

Deadband InsertionDeadband Insertion

Allow to insert 10ns (min.) ~ 160ms (max.) deadbandAllow to insert 10ns (min.) ~ 160ms (max.) deadband

deadbanddeadband deadbanddeadband

PWM+

PWM

Main Features of PWM Mode

Programmable Fault Output MaskProgrammable Fault Output Mask

Mask PWM output in real-time by external fault signalsMask PWM output in real-time by external fault signals

Allow different fault output for different fault signalsAllow different fault output for different fault signals

Original Center-Aligned

PWM output

Masked PWM output

Fault Signal

fault outputfault output

Main Features of PWM Mode

Sufficient Interrupt SourcesSufficient Interrupt Sources

PWM interruptPWM interrupt

Sampling cycle interruptSampling cycle interrupt

User-defined interrupt eventUser-defined interrupt event

……

Hall Sensor Mode of MCM

MCM in Hall Sensor Mode

Hall Interface AHall Interface A

Hall AHall A

Hall BHall B

Hall Interface BHall Interface B

Hall CHall C

Hall AHall A

Hall BHall B

Hall CHall C

NN

SS

Hall A

Hall BHall CHall A

Hall B

Hall C

NN

SS

Hall A

Hall BHall CHall A

Hall B

Hall C

Main Features of Hall Sensor Mode

Dedicated to BLDC Motor ControlDedicated to BLDC Motor Control

Programmable Commutation PatternProgrammable Commutation Pattern

Commutation Error CheckingCommutation Error Checking

Sufficient Interrupt SourcesSufficient Interrupt Sources

Commutation interruptCommutation interrupt

Input error interruptInput error interrupt

……

8051 I/O Coprocessorof

Vortex86DX2

8051 Coprocessor

An Integrated 8051 as I/O CoprocessorAn Integrated 8051 as I/O Coprocessor

Share all MCMs with x86 coreShare all MCMs with x86 core

Serve as PLC or any low-speed I/O auxiliary devicesServe as PLC or any low-speed I/O auxiliary devices

x86core

internalPCI bus

8051core

internal8051

I/O bus

12MCMs

internal PCI bus

or internal

UART port

Key Specifications of Coprocessor

CPUCPU100MHz100MHz

1T 8051 Core1T 8051 Core

Program & Program &

External Data External Data

MemoryMemory32KB SRAM32KB SRAM

I/O Interface I/O Interface

(Exclusive)(Exclusive)

- High-Speed UART High-Speed UART 2 Ports 2 Ports

up to 6Mbps, one port connected to up to 6Mbps, one port connected to x86x86 core core- GPIO GPIO 9 Ports 9 Ports

I/O Interface I/O Interface

(Shared with (Shared with x86x86

Core)Core)

- Motion-Control Modules Motion-Control Modules 12 12- SPI SPI 2 Ports 2 Ports

for DAC, ADC accessfor DAC, ADC access

ISA Bus Features of

Vortex86DX2 for Motion Control

ISA GPCS

2 General-Purpose Chip Selectors (2 General-Purpose Chip Selectors (GPCSGPCS))

Allow both I/O mapping and memory mappingAllow both I/O mapping and memory mapping

2 ~ 64K I/O-space addressing2 ~ 64K I/O-space addressing

512 ~ 4G memory-space addressing512 ~ 4G memory-space addressing

Low Cost Solution to Add Digital I/O PointsLow Cost Solution to Add Digital I/O Points

Extend massive I/O ports using a few standard logic Extend massive I/O ports using a few standard logic

gates or CPLDgates or CPLD

ISA GPCSExtend input ports with 74HC138 & 74HC244Extend input ports with 74HC138 & 74HC244

Extend output ports with 74HC138 & 74HC374Extend output ports with 74HC138 & 74HC374

ISA Dual-Port SRAM

Built-in 4KB Dual-Port SRAMBuilt-in 4KB Dual-Port SRAM

Can be shared by two Vortex86DX2 via ISA busCan be shared by two Vortex86DX2 via ISA bus

Low Cost Solution for Dual Low Cost Solution for Dual x86x86 CPU CPU

CooperationCooperation

Connect directly via ISA BusConnect directly via ISA Bus

No need extra circuitNo need extra circuit

Each Each x86x86 serves as either HMI or motion processor, serves as either HMI or motion processor,

which makes easy to build a fault-tolerant systemwhich makes easy to build a fault-tolerant system

ISA Dual-Port SRAMVortex86DX2 A Vortex86DX2 B

ISA BusISA Bus

4KB SRAM4KB SRAM

Vortex86DX2Motion Evaluation Board

Overview of Motion EVBVortex86DX2 Motion EVBVortex86DX2 Motion EVB

Vortex86DX2 SOM-304 Vortex86DX2 SOM-304 CPU ModuleCPU Module

Motion Daughter BoardMotion Daughter Board Motion Connector BoardMotion Connector Board

Overview of Motion EVBVGAVGA LANLAN USBUSB PCI-EPCI-E PS/2 Keyboard/MousePS/2 Keyboard/Mouse

SATASATA

PC/104PC/104ISA BusISA Bus

LCDLCD

II22CC

DC-to-DC DC-to-DC Power ModulesPower Modules

24V ~ 48V DC Input24V ~ 48V DC Input

9-Axis Isolated 9-Axis Isolated Motion I/O:Motion I/O:

PulsePulseEncoderEncoder

Home/LimitHome/LimitAlarm RSTAlarm RST

DACDAC……

ADCADC

Overview of Motion EVB

Combined with the Combined with the Connector Board by Connector Board by StackingStacking

Connected with the Connected with the Connector Board via Connector Board via

SCSI CablesSCSI Cables

Vortex86DX2 SOM-304 CPU Module

A core module with Vortex86DX2 CPU, A core module with Vortex86DX2 CPU,

512MB~1GB DRAM, and massive I/O for 512MB~1GB DRAM, and massive I/O for

the following benefits:the following benefits:

• Simplify & speed-up design taskSimplify & speed-up design task

• Save design costSave design cost

• Reduce design riskReduce design risk

• Easy to do maintenanceEasy to do maintenance

Vortex86DX2 SOM-304 CPU Module

Motion I/O of Motion EVB

9-Axis9-Axis Connector BoardConnector Board

Single-Axis Pin Single-Axis Pin

Allocation:Allocation:

Linear Driver Output PinsLinear Driver Output Pins

Pulse A+Pulse A+

Pulse APulse A Pulse B+Pulse B+

Pulse BPulse B

Linear Driver Input PinsLinear Driver Input Pins

Encoder A+Encoder A+

Encoder AEncoder A Encoder B+Encoder B+

Encoder BEncoder B Encoder Z+Encoder Z+

Encoder ZEncoder Z

Optical Isolated Output PinsOptical Isolated Output Pins

Servo ONServo ON

Alarm RSTAlarm RST

Optical Isolated Input PinsOptical Isolated Input Pins

HomeHome

Limit+Limit+

LimitLimit AlarmAlarm

Servo RDYServo RDY

Analog Output PinAnalog Output Pin

DACDAC

On-Board D/A & A/D Interface

D/A ConverterD/A Converter

8-channel D/A implemented by two AD5754 chips8-channel D/A implemented by two AD5754 chips

16-bit resolution, 16-bit resolution, 10V output10V output

A/D ConverterA/D Converter

8-channel A/D implemented by a AD7606 chip8-channel A/D implemented by a AD7606 chip

16-bit resolution, 16-bit resolution, 10V input10V input

Isolated Analog PowerIsolated Analog Power

System Reference Designs

Open-Source Reference DesignsOpen-Source Reference Designs

Sample motion controller (with G-code interpretation)Sample motion controller (with G-code interpretation)

BLDC motor driverBLDC motor driver

IM spindle VFDIM spindle VFD

…………

Open-Source ToolkitOpen-Source Toolkit

Dedicated LinuxCNC (EMC2) HALDedicated LinuxCNC (EMC2) HAL

Conclusions

Low-Cost Configurations

Vortex86DX2

HMI + Motion Control + Motor Control

IGBT Motor

Encoder

PWM

Pulse A/B, Index

Vortex86DX2

HMI + Motion Control

Motor

Encoder

P-cmdServo Driver

Pulse/DIRCW/CCWPulse A/B

Pulse A/B, Index

x86x86 & motion interface integrated in a Vortex86DX2 SoC m & motion interface integrated in a Vortex86DX2 SoC m

ake ake low-costlow-cost motion control platforms possible motion control platforms possible

Mid-End Configuration

Dual Vortex86DX2 constitute a Dual Vortex86DX2 constitute a homogeneoushomogeneous, , fault-tolerantfault-tolerant, ,

and and higher-performancehigher-performance motion control system motion control system

Vortex86DX2

HMI

Motor

Encoder

Servo Driver

ISA Bus

Pulse/DIRCW/CCWPulse A/B

EtherCAT Mechatrolink

…

Vortex86DX2

Real-TimeMotion Controller

Pulse A/B, Index

High-End Configuration

Vortex86DX2’sVortex86DX2’s computing power also enables realizationcomputing power also enables realization of high-high-

speedspeed soft-motionsoft-motion controllers for integration into high-end systems controllers for integration into high-end systems

Intel/AMD

multi-core

x86/x64

High-End HMIwith

3D Graphics

Vortex86DX2

Real-TimeMotion Controller

PCI/PCI-EBridge

Motor

Encoder

Servo Driver

Pulse/DIRCW/CCWPulse A/B

EtherCAT Mechatrolink

…

Pulse A/B, Index

Video DEMO

Motion & BLDC Experiments on Vortex86DX2 EVBMotion & BLDC Experiments on Vortex86DX2 EVB

Thank You!

DMP Electronics Inc.

Q&A