GM-400 Series Motion Controller
Googol's inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also an excellent tool for researchers of modern control theories. Through continuous research,  new control methods haven been developed and then applied to high-tech industries such as aeronautical engineering and robotics.  
GM-400 is a low cost and easy to use motion control card that installs directly into the ISA slot. Its compact and powerful design makes it ideally suitable for PC-based applications such as machine tool control, packaging and factory automation.

The heart of the GM-400 is its PMD 1401A DSP motion chipset. The chipset handles the servo algorithms with PID and velocity filtering for all four axes. It performs the intensive computational tasks required for high performance applications such as digital velocity, torque and position control. The dedicated DSP frees the host CPU for other tasks and protects motion control activities from host software concilicts.

For synchronizationwith outside events, GM-400 provides uncommitted I/O, including 8 optoisolated digital inputs and 8 digital outputs. Dedicated optoisolated inputs are provided for Positive/Negative Limits, Home, Drive Alarm and Drive Enable/Reset.

Supplied with a set of plain motion commands and demonstration software, GM-400 is easy to use, by even a novice user. Additional software is available to autotune, view trajectories on a PC screen, translate CAD files into motion and create powerful, application-specific operator interfaces with Visual C.



  • 4 axes of coordinated motion controlfor DC brush/brushless servo motors
  • Controls servo devices with analog or PWM inputs
  • Update rate as high as 10kHz (100 microseconds) per axis or 2.5kHz (400 microseconds) for 4 axes
  • Position capture latency as low as 200ns
  • Up to 1MHz 4x quadrature encoder input with index position capture
  • Interupts for motion controller even flag
  • Trajectory generation and servo loop closure with incremental quadrature
  • User programmable servo update rate PID and Bias Oddset Adjustment, or PI and Velocity Feedforward and Bias Offset adjustment filtering algorithms
  • Programmable motion profiles: symmetrical trapezoidal, symmetrical S-curve profiles, electronic gearing, velocity contouring
  • Host-based linear and circular interpolation
  • Partial on-the-fly trajectory parameters update (see: overview)
  • 32-bit position, velocity, acceleration and jerk registers
  • Programmable torque limit
  • Dedicated opto-isolated input per axis, 2 channels for limit switch signal, 1 channel for home signal, and 1 channel for drive alarm signal input.
  • User defined I/O - 8 optically isolated inputs and 8 outputs
  • Optically extendable up to 12 I/Os

Bus Type:

  • ISA and PC-104 buses interface
System Software:
  • Demonstration software
  • Debugging program
  • Borland C++ source code library
  • DOS, Windows 3.x/95/98/NT/XP drivers
Power Consumption:
  • +5V, Icc=2A, power supplied from PC
  • ±12V, Icc=60mA, power supplied from PC
  • +24V or +12V, Icc=2A, external power provided by user
  • Operating temperature: 0 - 60ºC
  • Relative humidity: 5% - 90%, non-condensing
Mechanical Dimension:
  • 122mm x 185mm

MY Office : 72-3C, JALAN PUTERI 2/4, BANDAR PUTERI, 47100 PUCHONG, SELANGOR, Malaysia. Tel:+603-8063 9300 fax:+603-8063 9400
SG Office : 259, Onan Road, Singapore 424651. Tel: +65-6468 3325 Fax: +65-6764 5646