Operation
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Magellan Motion Processer Developer’s Kit Manual
2
After a reset occurs, the motion processor and other related output signals will be driven to known states, depending
on the type of reset performed. These are summarized in the table below:
If Atlas amplifiers are used, a Magellan reset will result in the commanded output torque being set to a zero value. A
Magellan reset does not result in an explicit reset of connected Atlas units. If, for whatever reason, an explicit reset of
the Atlas units is desired a command can be sent via the Magellan and addressed to the Atlas, or power to the Atlas
can be cycled. To learn more about sending Atlas commands via an attached Magellan IC see the
Magellan Motion
Processor User’s Guide
.
C-Motion Commands
The available C-Motion callable functions for this feature are:
2.4
Signal Processing and Hardware
Functions
Signal processing and hardware functions are card functions which are not directly user-programmable. These are card
characteristics which are encoded in hardware. Primarily this consists of various types of signals. The following
sections lists these related groups of signals and provides information that may be helpful when connecting your
motion system.
Reset through PCI bus
Hard reset
The C-Motion command PMDHardReset uses the PCI bus
to perform a “hard” reset of both the card circuitry and the
motion processor.
See table below for more information.
In
this context “hard” vs “soft” means decoded externally to
the motion processor, or coded through the motion pro-
cessor. Both types result in the motion processor being
reset, however.
Signal name
Reset condition
AxisOut1-4
High
PWMMag1A-4C
DC Brush motor:
Low
Brushless DC motor:
50/50 High/Low
Microstepping motor:
Low
PWMSign1A-4B
DC Brush motor:
High
Brushless DC motor:
Low
Microstepping motor:
High
DAC1A-DAC4B
0.0 volts
C-Motion
Command
Arguments
Function Description
PMDHardReset
axis_handle
This function causes a “hard’” reset of the motion proces-
sor. Unlike all other card-specific commands, this command
is processed directly through the PCI card interface.
PMDReset
axis_handle
This function causes a “soft” reset of the motion processor.
Method
Type of reset
Description