Operation
26
Magellan Motion Processer Developer’s Kit Manual
2
2.1
Card Function Overview
Magellan Motion Processor Developer’s Kit card resources can be broken into three overall categories:
Magellan Motion Processor functions
—These are programmable functions which reside in the motion processor
such as profile generation, servo loop closure, and much more. These functions are accessed using Magellan Motion
Processor commands, of which there are roughly 150 in total, to allow sophisticated control of the card’s overall
behavior.
Card-specific functions
—These are programmable functions which are controlled by the motion processor using
commands
ReadIO
and
WriteIO
, but which reside in various portions of the card circuitry. These functions include
general purpose digital IO, and other card-specific capabilities.
Signal processing & hardware functions
—A substantial portion of the card provides signal conditioning and other
functions associated with non-programmable, signal-related processing.
2.1.1
Standalone Operation
There are two modes of operating the Magellan Developer’s Kit Card: through the PCI bus, and in standalone mode.
When operating the card through the PCI bus all required power and communication connections are provided by the
interface bus itself.
When operating the card in standalone mode, you must use serial or CANbus communications. In addition, you will
need to provide power to the card via an external connection, J10. See
3.2.6, “Standalone Power Connector
for a detailed description. Operating the card in standalone can be useful for a number of reasons, including
locating the card closer to the motion hardware, being able to operate several cards simultaneously on a serial multi-
drop or CANbus network or not having access to a PCI bus backplane.
2.2
Magellan Motion Processor
The Magellan Motion Processor pictured in
is comprised of 2 ICs, a CP (command processor) and an IO
(input/output) IC. A summary list of the functions provided by the motion processor is as follows:
• Profile generation
• Motor output signal generation (PWM and analog)
• Quadrature counting, index capture
• Servo loop closure (for DC brush or brushless DC motors only)
• Breakpoint processing
• PLC-function processing (AxisIn and AxisOut signals)
• Trace
• Motion error detection, tracking windows, and at-settled indicator
• Limit switches
Access to the Magellan Developer’s Kit card may occur through the PCI port, through the serial port, or through the
CANbus. In any case, a complete set of C-Motion function calls, one for each Magellan command, is used to
communicate to the card. For a complete list of Magellan commands see the
Magellan Motion Processor Programmer’s
Command Reference
.
