PMD DK55110, Manual

Page 1: ...Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 MagellanTM Motion Processor Developer s Kit Manual Revision 1 5 March 2013 Magellan Motion Processor ...

Page 2: ...ed in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2013 by Performance Motion Devices Inc ATLAS Magellan I...

Page 3: ...tion of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage Products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is understood to be fully at the cus...

Page 4: ...on processors Atlas Digital Amplifier User s Manual Description of the Atlas Digital Amplifier electrical and mechanical specifications along with a summary of its operational features Atlas Digital Amplifier Complete Technical Reference Complete electrical and mechanical description of the Atlas Digital Amplifier with detailed theory of operations Pro Motion User s Guide User s guide to Pro Motio...

Page 5: ...2 1 Card Function Overview 26 2 2 Magellan Motion Processor 26 2 3 Card Specific Functions 27 2 4 Signal Processing and Hardware Functions 32 3 Magellan Developer s Kit Electrical Specifications 37 3 1 Magellan Configuration Switch Blocks 38 3 2 Magellan Connectors 44 3 3 Outputs to Motor Amplifiers 48 3 4 Encoder Inputs 51 3 5 Environmental and Electrical Ratings 52 3 6 PLX PCI Chip Information 5...

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Page 7: ...3 Chain of DK Carrier Cards 55 A 4 Top Outline View of Horizontal and Vertical DK Card 57 A 5 J6 Address Selector 59 A 6 Vertical Unit Pinouts 59 A 7 Horizontal Unit Pinouts 60 A 8 Mounting Atlas to Vertical Plate 61 B 1 Developer s Kit overview schematic 63 B 2 Magellan Motion Processor CP and DPRAM schematic 64 B 3 Developer s Kit I O schematic 65 B 4 Developer s Kit DAC amplifiers schematic 66 ...

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Page 9: ...gital Amplifiers are directly supported via a plug in connector Alternatively connectors are provided to integrate other off the shelf amplifiers or user built amplifier circuitry Because the installed chip for each Developer s Kit version supports the maximum number of axes allowed it can be used to develop systems based on chipsets with fewer axes simply by disabling the unused axes Alternativel...

Page 10: ...lifies the development of motion applications for Magellan Motion Processor Developer s Kit cards Pro Motion is a sophisticated easy to use exerciser program that allows you to set and view all card parameters and exercise all card features Pro Motion features include Motion oscilloscope graphically displays processor parameters in real time Interactive servo tuning Atlas amplifier setup and confi...

Page 11: ...ion of the Magellan Motion Processor Developer s Kit cards is described in Section 1 6 Preparing the Card for Installation in detail Part Number Name Description DK5X000UG Magellan Motion Processor Developer s Kit Manual This is the first document you will turn to get started make connections and exercise the card This document will answer questions such as How do I connect my amplifiers and motor...

Page 12: ... encoder feedback while for step motors encoder feedback is optional 4 Additional connectors as required to connect the Magellan Motion Processor Developer s Kit card to the amplifiers and the motors A single 100 pin header type connector will be needed to interface to your motion hardware such as encoders limit switches and other connections If Atlas amplifiers are used the Magellan DK supports d...

Page 13: ...ere the PCI connector is located The up position on the switch is marked on Item Switches Description Dip switch S5 S5 1 S5 2 S5 3 Axis 1 Motor type setting Set S5 1 3 dip switches according to the motor type you will be using on axis 1 5 1 5 2 5 3 Axis 1 up up up Brushless DC 3 phase down up up Brushless DC 2 phase up down up Microstepping 3 phase down down up Microstepping 2 phase up up down Pul...

Page 14: ... dip switches according to the motor type you will be using on axis 4 6 5 6 6 6 7 Motor type setting up up up Brushless DC 3 phase down up up Brushless DC 2 phase up down up Microstepping 3 phase down down up Microstepping 2 phase up up down Pulse direction down down down DC brush default setting Item Configuration Description JP16 JP17 JP18 jumpers installed at 2 3 for all three jumpers To operat...

Page 15: ... used with an Atlas amplifier Atlas amplifier connections are made via J14 the Atlas DK bus connector See Appendix A Atlas Developer s Kit for detailed instructions on configuring Atlas amplifier connections All other connections are made through connector J4 the primary 100 pin connector See Chapter 3 Magellan Developer s Kit Electrical Specifications for detailed signal descriptions Signal Categ...

Page 16: ...t of connections 1 7 5 Brushless DC Motors The following table summarizes connections to the Magellan Motion Processor Developer s Kit card when brushless DC motors are used with a non Atlas format amplifier All of these connections are made through connector J4 the Signal Category Signal Description Encoder input signals per axis A quadrature channel input B quadrature channel input Index pulse c...

Page 17: ...e Signal Category Signal Description Encoder input signals per axis A quadrature channel input B quadrature channel input Index pulse channel input Amplifier output signals per axis if PWM 50 50 used PWM magnitude phase A PWM magnitude phase B PWM magnitude phase C Amplifier output signals per axis if analog output used Analog out phase A Analog out phase B Hall inputs Hall phase A Hall phase B Ha...

Page 18: ...efault serial port baud rate is 57 600 bits per second This rate should work with most PCs To set the baud rate to a different value use the S2 switch settings described in section 2 3 2 of this manual If you still have trouble communicating to the card using the serial port contact PMD for assistance 1 7 9 Power Connections 1 7 9 1 Power For The DK Card The final electrical installation step is t...

Page 19: ...behavior is still observed call PMD for application assistance 1 9 Software Installation Included in your developer s kit are two CDROMs marked Pro Motion and Magellan SDK These CDs contain software to exercise your board and source code that will enable you to develop your own motion applications The exercise software is designed to work with Windows XP or Windows 7 If you have autorun enabled th...

Page 20: ... and the DK card provide these steps will create a foundation for further successful exploration and development Here is a summary of the steps that will be used during first time system verification Each of these steps will be described below in a separate section 1 Initiate Pro Motion and establish communication between the PC and the card using the serial or PCI bus communications link 2 Run Pr...

Page 21: ...e purpose of the Interface dialog box is to indicate to Pro Motion how your Magellan DK card is connected to the PC It provides various selectable communication options such as PCI serial CANbus 4 Click Serial or PCI depending on which is connected and then click OK For serial a dialog box displays with default communication values of 57 600 baud no parity 1 stop bit and point to point protocol Fo...

Page 22: ...ns Timeout Error has occurred If this is the case recheck your connections and repeat from step 1 above If after repeated attempts a connection can still not be established call PMD for assistance 1 10 2 Initializing Motion Axes The next step to verify the correct operation of the system is to initialize each axis of the motion system sequentially thereby verifying correct amplifier connection enc...

Page 23: ...sor Depending on the signals connected this may also mean that limit switches and other hardware connections are functioning properly The most common reasons for the Axis Wizard to not complete normally are an inability to auto tune the servo motor or problems determining the correct commutation sequence for Brushless DC motors when commutated by the Magellan Motion Processor Should this happen it...

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Page 25: ...ich perform motion command interpretation and other real time functions The overall card function is divided amongst a number of modules These modules are indicated in the block diagram below Figure 2 1 Magellan Motion Processor Developer s Kit Internal Block Diagram Magellan Digital signal conditioning Quadrature signal conditioning Serial transceiver Serial Xmt Rcv Trace profile RAM storage 16k ...

Page 26: ...y 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 Section 3 2 6 Standalone Power Connector J10 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 har...

Page 27: ...e Magellan Motion Processor Programmer s Command Reference 2 3 Card Specific Functions Card specific functions are those functions that are mapped through the motion processor s ReadIO and WriteIO facility but are implemented in the card circuitry Card specific functions are detailed in this document rather than the Magellan Motion Processor User s Guide or the Magellan Motion Processor Programmer...

Page 28: ... to be performed through the serial port even while the PCI bus is used to command motion sequences Two connectors provide serial port signals from the Developer s Kit card to external devices J13 is a standard DB 9 connector and is used for point to point serial communications This connector is designed such that it can directly connect to a PC serial port without a null modem J1 is a 5 pin conne...

Page 29: ...p up up 9600 up down up up 19200 down down up up 57600 up up down up 115200 down up down up 250000 up down down up 416667 down down down up Parity None up up Odd down up Even up down Stop bits 1 up 2 down Protocol Point to point up up Address bit up down Idle line down down S2 2 and S2 3 must be left in the up position Multi drop address selection S2 Address S2 4 S2 5 S2 6 S2 7 S2 8 0 up up up up ...

Page 30: ...own 24 up up up down down 25 down up up down down 26 up down up down down 27 down down up down down 28 up up down down down 29 down up down down down 30 up down down down down 31 down down down down down S3 8 and S4 1 through S4 5 should be left in the on position Switches Description S3 1 7 Node ID Setting Switches 1 7 of the S3 DIP switch control the CANbus nodeID allowing the card to be uniquel...

Page 31: ...one They are summarized in the table below S4 8 16 Communication rate These switches set the CANbus communication rate as follows S4 6 S4 7 S4 8 Baud setting up up up 1 000 000 baud down up up 800 000 baud up down up 500 000 baud down down up 250 000 baud up up down 125 000 baud down up down 50 000 baud up down down 20 000 baud down down down 10 000 baud If the attached CANbus device is the last n...

Page 32: ...stics 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 b...

Page 33: ...ls are named QuadA1 through QuadB4 16 signals and Index1 through Index4 8 signals Connections Associated Signals This group of signals are connected in one of two ways Single ended termination means that only one wire per signal is used while differential dual mode means two wires encode each signal labeled and Differential encoding is generally recommended for the highest level of reliability bec...

Page 34: ...ction signal input mode The table below shows hot to set the QuadA and QuadB input mode 2 4 4 Analog Input The Analog0 7 signals provide general purpose input of 8 analog signals If connected the voltages present at these various connections do not directly affect the motion processor s behavior However they can be read through the motion processor and thus provide a convenient way of bringing in ...

Page 35: ...Magellan chipset This group of signals along with ground connections are available at J14 and comprise an interface directly compatible with the Atlas Developer s Kit cards See Appendix A Atlas Developer s Kit for a complete description of the Atlas DK system See Section 2 4 5 SPI Atlas Bus for a detailed description of J14 the SPI Atlas bus connector 2 4 6 Pulse and Direction Out For pulse direct...

Page 36: ...Electrical Specifications for a complete description of the pinout connections to from the card 2 4 8 Motor Command For servo or microstepping motors these signals contain the analog motor command when the motor output mode is set to DAC digital to analog converter These signals vary between 10V and 10V See the Magellan Motion Processor User s Guide for more information The number of signals per a...

Page 37: ...ch blocks S1 and S2 set the serial interface configuration and multi drop address Switch blocks S3 and S4 set the CANbus interface configuration Switch blocks S5 and S6 select the motor type used with MC58000 family products only along with the encoding format of the QuadA and QuadB signals Resistor Packs RS1 RS3 select whether single ended or differential encoder are connected Jumper JP15 selects...

Page 38: ...3 sets the device address for multi drop protocol systems When referring to the table below the switch up position is relative to the bottom of the board where the PCI connector is located The up position on the switch is marked on S1 1 S1 2 S1 3 S1 4 S1 5 S1 6 S1 7 S1 8 S2 1 Transmission rate bits per sec ond 1200 up up up up 2400 down up up up 9600 up down up up 19200 down down up up 57600 up up...

Page 39: ...0 up down up down up 11 down down up down up 12 up up down down up 13 down up down down up 14 up down down down up 15 down down down down up 16 up up up up down 17 down up up up down 18 up down up up down 19 down down up up down 20 up up down up down 21 down up down up down 22 up down down up down 23 down down down up down 24 up up up down down 25 down up up down down 26 up down up down down 27 do...

Page 40: ...er Quadrature feedback is optional with this type of motor Switches Description S3 1 7 Node ID Setting Switches 1 7 of the S3 DIP switch control the CANbus nodeID allowing the card to be uniquely addressed on the CANbus network Switches 1 7 are set binary encoded with total range of allowed values 0 127 and with 1 being least significant 7 most significant If a switch is up it encodes a bit value ...

Page 41: ...S5 1 3 dip switches according to the motor type you will be using on axis 1 5 1 5 2 5 3 Axis 1 up up up Brushless DC 3 phase down up up Brushless DC 2 phase up down up Microstepping 3 phase down down up Microstepping 2 phase up up down Pulse direction down down down DC brush default setting Dip switch S5 S5 5 S5 6 S5 7 Axis 2 Motor type setting Set S5 5 7 dip switches according to the motor type y...

Page 42: ...e factory and should not be changed unless a motion processor is installed that requires alternate settings If this is the case a PMD representative will provide specific instructions on the new jumper settings Item Switch Description Dip switch S5 4 up Sets QuadA and QuadB interpretation for Axis 1 to quadrature down Sets QuadA and QuadB interpretation for Axis 1 to pulse direction Dip switch S5 ...

Page 43: ...3 0 or later which are Magellan processors that support Atlas Digital Amplifiers For installed Magellan Motion Processors prior to rev 3 0 jumpers JP16 JP17 and JP18 should be connected at the 1 2 position For installed Magellan Motion Processors rev 3 0 or higher jumpers JP16 JP17 and JP18 should be connected at the 2 3 position Figure 3 2 JP16 18 in 2 3 Position Figure 3 3 JP16 18 in 1 2 Positio...

Page 44: ...ntaining encoder input Hall input AxisIn signals AxisOut signals Motor output signals and limit switch inputs J5 20 pin user defined digital I O connector J10 4 pin 5v power connector J13 9 pin DB 9 serial port connector J14 9 pin DB 9 SPI ATLAS connector JS1 4 pin CANbus connector Connector J1 is used with multi drop serial communications Connector J13 is used with serial point to point communica...

Page 45: ...nalogGND 5 Analog4 13 AnalogVcc 6 Analog5 14 HostIntrpt 7 Analog6 15 Gnd 8 Analog7 16 3 3V Header 1 to J4 pins 1 50 Header 2 to J4 pins 51 100 Pin Signal name Pin Signal name Pin Signal name Pin Signal name 1 QuadA1 26 QuadA2 1 QuadA3 26 QuadA4 2 QuadA1 27 QuadA2 2 QuadA3 27 QuadA4 3 QuadB1 28 QuadB2 3 QuadB3 28 QuadB4 4 QuadB1 29 QuadB2 4 QuadB3 29 QuadB4 5 Index1 30 Index2 5 Index3 30 Index4 6 I...

Page 46: ...s labels to indicate HDR1 and HDR2 Header 1 to J4 pins 1 50 Header 2 to J4 pins 51 100 Pin Signal name Pin Signal name Pin Signal name Pin Signal name 1 QuadA1 26 N C 1 N C 26 N C 2 QuadA1 27 N C 2 N C 27 N C 3 QuadB1 28 N C 3 N C 28 N C 4 QuadB1 29 N C 4 N C 29 N C 5 Index1 30 N C 5 N C 30 N C 6 Index1 31 N C 6 N C 31 N C 7 Vcc encoder 32 N C 7 N C 32 N C 8 GND encoder 33 N C 8 GND 33 N C 9 Hall1...

Page 47: ...nals source up to 4mA and can sink up to 8mA These pins are accessed using the Magellan commands ReadIO WriteIO This is a 20 pin header 2x10 0 1 spacing 3 2 6 Standalone Power Connector J10 This is a green 2 connection terminal block 3 2 7 Serial Port Connector J13 This is a male DB 9 connector Pin number Signal name Pin number Signal name 1 PrlIn0 10 PrlOut4 2 PrlOut0 11 PrlIn5 3 PrlIn1 12 PrlOut...

Page 48: ...axes that are not connected to Atlas amplifiers there are four types of output to the motor amplifiers Pin number Signal name 1 No connection 2 Serial Transmit 3 Serial Receive 4 No connection 5 Gnd 6 No connection 7 No connection 8 No connection 9 No connection Pin number Signal name 1 SPIEnable3 2 SPIEnable2 3 GND 4 GND 5 SPIRcv 6 SPIEnable1 7 SPIEnable4 8 SPIClock 9 SPIXmt Pin number Signal nam...

Page 49: ... DACAn Ref1 or V1 Hdr1 22 Hdr1 47 Hdr2 22 Hdr2 47 DACBn Ref2 or V2 Hdr1 23 Hdr1 48 Hdr2 23 Hdr2 48 GNDn Ref or Gnd Hdr1 24 Hdr1 49 Hdr2 24 Hdr2 49 PWM 50 50 PWMMagAn PWM phase 1 Hdr1 18 Hdr1 43 Hdr2 18 Hdr2 43 PWMMagBn PWM phase 2 Hdr1 19 Hdr1 44 Hdr2 19 Hdr2 44 PWMMagCn PWM phase 3 Hdr1 20 Hdr1 45 Hdr2 20 Hdr2 45 GND GND Hdr1 8 Hdr1 33 Hdr2 8 Hdr2 33 J4 connection Header pin Signal name Amplifier...

Page 50: ...ection Header pin Signal name Amplifier input Axis 1 DAC DACAl Ref1 or V1 Hdr1 22 DACBl Ref2 or V2 Hdr1 23 GND Ref or Gnd Hdr1 24 PWM 50 50 PWMMaglA PWM phase 1 Hdr2 36 PWMMaglB PWM phase 2 Hdr2 16 PWMMaglC PWM phase 3 Hdr2 10 GND GND Hdr2 8 J4 connection Header pin Signal name Amplifier input Axis 1 DAC DACAl Ref or V Hdr1 22 DACBl Ref or V Hdr1 23 GNDn Ref or Gnd Hdr1 24 PWM sign magnitude GND P...

Page 51: ... CP chips Signal J4 pin connections Axis 1 Axis 2 Axis 3 Axis 4 QuadAn Hdr1 1 Hdr1 26 Hdr1 51 Hdr1 76 QuadAn Hdr1 2 Hdr1 27 Hdr1 52 Hdr1 77 QuadBn Hdr1 3 Hdr1 28 Hdr1 53 Hdr1 78 QuadBn Hdr1 4 Hdr1 29 Hdr1 54 Hdr1 79 Indexn Hdr1 5 Hdr1 30 Hdr1 55 Hdr1 80 Indexn Hdr1 6 Hdr1 31 Hdr1 56 Hdr1 81 Vcc Hdr1 7 Hdr1 32 Hdr1 57 Hdr1 82 GND Hdr1 8 Hdr1 33 Hdr1 58 Hdr1 83 Signal J4 pin connections Axis 1 Axis ...

Page 52: ...ion register values For further information refer to the PLX documentation The following variables are used to access each space PCI_IOSPACE0_BASE Second memory range as reported by the OS PCI_IOSPACE1_BASE Second IO range as reported by the OS Dual_port_RAM PCI_IOSPACE0_BASE PMD_data_port PCI_IOSPACE1_BASE 0 PMD_cmd_status_port PCI_IOSPACE1_BASE 2 If the OS Operating System is MS Windows the assi...

Page 53: ... development with Atlas Amplifiers a Developer s Kit DK is available In addition to documentation and software distribution media the major elements of the DK are Atlas carrier card Atlas DK DB9 communications cable Optional L bracket base and vertical member for heat sink attachment with associated mounting hardware comes in 1 2 or 4 axis version L BRACKET ASSEMBLY ATLAS DK CARRIER CARD ASSEMBLY ...

Page 54: ...ting started instructions If you are not using an L bracket you will need to set the SPI bus address using jumper J6 on each Atlas carrier card For vertical Atlas units you can set the jumper without removing the Atlas from the carrier card For horizontal Atlas units you must remove Atlas from the socket select a jumper and then carefully remount the Atlas into the socket Refer to Figure A 2 to se...

Page 55: ...your own chain you may therefore find it useful to label the carrier cards with an easily readable axis to avoid confusion when connecting motors A 2 2 1 Connecting an Atlas Chain By Cables There may be circumstances where you prefer not to connect all of the Atlas carrier cards directly to each other but rather via cables If this is the case care should be taken not to exceed the total cable leng...

Page 56: ...For safety reasons you may prefer to wire the enable input into a separate switch or E stop button Regardless of how it is accomplished the enable signal must be driven active low for Atlas to operate A 2 6 Installing and Connecting to the Magellan DK Card To set up and install the Magellan DK card refer to the Magellan Motion Processor Developer s Kit Manual This manual will help you select jumpe...

Page 57: ... The following sections provides detailed information on the electrical characteristics of the Atlas DK carrier card There are two different designs of carrier card one for the vertical Atlas units and one for horizontal units Electrically these two cards are similar differing only in the socket connections to the Atlas unit Figure A 4 Top Outline View of Horizontal and Vertical DK Card A 3 1 J1 J...

Page 58: ...o an address of 1 In this mode either J4 or J5 may be used for connection the only difference being the gender of the connector Here are the pinouts for J4 J5 when used in pulse direction signal mode Enab Enable Enable input Flt FaultOut FaultOut output GND GND Ground return for Enable and FaultOut signals Motor Type Connections Brushless DC Motor A Motor B Motor C DC Brush Motor A Motor B Step Mo...

Page 59: ...dresses 1 through 4 Figure A 5 J6 Address Selector A 3 4 Atlas Connections The carrier cards connect to the Atlas unit via sockets at J3 The tables below show the Atlas connections for these connectors A 3 4 1 Vertical Unit Connections Figure A 6 Vertical Unit Pinouts 8 Pulse Pulse direction mode Pulse signal 9 Direction Pulse direction mode Direction signal 1 2 3 4 Pin Name Pin Name 1 Pwr_Gnd 2 P...

Page 60: ... use just the base plate or the base plate and vertical plate in the L configuration L bracket hardware is available in a one axis configuration two axis configuration and four axis configuration Normally the Atlas units and carrier cards are fully assembled into the L brackets If you ordered your DK components not assembled however you can assemble these components yourself To assist with this an...

Page 61: ...d to increase the mechanical robustness of the development system For best thermal performance a material such as Sil Pad thermal grease or phase change material should be utilized between metal interfacing layers For horizontal units and for vertical units without mounting tabs the Atlas unit is seated in the carrier via a socket No mechanical hardware is used to attach the Atlas A 4 2 Mounting L...

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Page 63: ...Magellan Motion Processer Developer s Kit Manual 63 B B Reference Schematics ...

Page 64: ...Reference Schematics 64 Magellan Motion Processer Developer s Kit Manual B Figure B 1 Developer s Kit overview schematic ...

Page 65: ...Reference Schematics Magellan Motion Processer Developer s Kit Manual 65 B Figure B 2 Magellan Motion Processor CP and DPRAM schematic ...

Page 66: ...Reference Schematics 66 Magellan Motion Processer Developer s Kit Manual B Figure B 3 Developer s Kit I O schematic ...

Page 67: ...Reference Schematics Magellan Motion Processer Developer s Kit Manual 67 B Figure B 4 Developer s Kit DAC amplifiers schematic ...

Page 68: ...Reference Schematics 68 Magellan Motion Processer Developer s Kit Manual B Figure B 5 Developer s Kit connector and quadrature schematic ...

Page 69: ...Reference Schematics Magellan Motion Processer Developer s Kit Manual 69 B Figure B 6 Developer s Kit PLD schematic ...

Page 70: ...Reference Schematics 70 Magellan Motion Processer Developer s Kit Manual B Figure B 7 Developer s Kit transceivers schematic ...

Page 71: ...Reference Schematics Magellan Motion Processer Developer s Kit Manual 71 B Figure B 8 Developer s Kit PLX9030 schematic ...

Page 72: ...Reference Schematics 72 Magellan Motion Processer Developer s Kit Manual B This page intentionally left blank Figure B 9 Developer s Kit PCI edge connector schematic ...

Page 73: ...on or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com Performance Motion Devices 80 Central Street Boxborough MA 01719 ...

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