Performance Motion Devices Prodigy Series User Manual page 35

Magellan instructions are encoded in packets, which are sent to and from the Magellan Motion Processor. The
Magellan processes these packets, performs requested functions, and returns requested data. Within the Prodigy/
CME PC/104 card, the Magellan uses its high-speed parallel-word communications mode to connect to the card's
communications bus, which allows the Magellan to be controlled via the C-Motion Engine, or via an external host
controller connected to the Prodigy/CME PC/104 card by serial, CANbus, or Ethernet port.
Two manuals describe how the Magellan Motion Processor operates and how it is programmed: the Magellan Motion
Processor User's Guide, and the Magellan Motion Processor Programmer's Command Reference. These documents also describe
VB-Motion, and C-Motion, which are the software libraries that are used to send commands to the Magellan chip and
exercise its many functions.
2.2.1 Accessing the Magellan Motion Processor
To send and receive command packets to the Magellan Motion Processor the PRP action
Magellan command packet is loaded into the PRP message body, and the return PRP message body contains the return
packet provided by the Magellan. A return without error indicates that the command was processed successfully. If an
error occurred while the Magellan was processing the command, the message body is loaded with the specific error
that occurred. For more information on Magellan command packet formats and return packet formats see the Magellan
Motion Processor Programmer's Command Reference.
In addition to accessing the on-card Magellan, it is also possible to access Magellan Motion Processors that are
connected via the Prodigy/CME PC/104 card's attached ports such as the PC/104 bus, CANbus, Serial, or Ethernet
networks. An additional PRP action,
connection to such a motion processor. See Section 3.4, "Accessing Magellan-Attached Devices," on page 64 for more
information on connecting to motion processors on attached networks.
For complete information on the format and function of these, and other PRP actions, refer to the Prodigy/CME
Programmer's Reference.
2.2.1.1 Magellan Reset
Although a reset occurs automatically during power-up, it is sometimes desirable to reset the Magellan Motion
Processor explicitly through a user-initiated action. The PRP action
causes a reset of the Magellan Motion Processor. This reset affects the Magellan Motion Processor, and a number of
Magellan-controlled signals. Note however that this type of reset is different than a full card reset initiated via the PRP
action . See Section 2.6.2, "Reset," on page 50 for a description.
Reset
After a Magellan reset occurs, some of the Prodigy/CME PC/104 card's output signals will be driven to known states.
These are summarized in the following table:
Signal Name State
AxisOut1-4 High
PWMMag1A-4C Low
PWMSign1A-4B Low
DAC1A-DAC4B No change
DigitalOut0-7 No change
AmpEnable1-4 No change
DAC On/Off No change
Watchdog Timer No change
Prodigy/CME PC/104 User's Guide
Open , sent to either the Device
Command
or the Peripheral resource, is used to establish a
Reset , when sent to the MotionProcessor
Operation
is used. The
resource,
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