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PMD DK58420 Manual

Magellan motion processor developer’s kit
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Magellan
Motion Processor
TM
Developer's Kit Manual
Magellan Motion Processor
Performance Motion Devices, Inc.
80 Central Street
Boxborough, MA 01719
Revision 1.5, March 2013

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  • Page 1 Magellan Motion Processor Developer’s Kit Manual Magellan Motion Processor Performance Motion Devices, Inc. 80 Central Street Boxborough, MA 01719 Revision 1.5, March 2013...
  • Page 2 The contents of this document may not be disclosed to third parties, translated, copied, or duplicated 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.
  • Page 3 Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD’s standard warranty. Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those mandated by government requirements.
  • Page 4 Related Documents Magellan Motion Processor User’s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its operation. Magellan Motion Processor Programmer’s Command Reference Descriptions of all Magellan Motion Processor commands, with coding syntax and examples, listed alphabetically for quick reference.

  • Page 5: Table Of Contents

    Table of Contents 1. Installation ........... 9 Components List .
  • Page 6 This page intentionally left blank. Magellan Motion Processor Developer’s Kit Manual...
  • Page 7 List of Figures Location of Various Board Elements ........14 Magellan Motion Processor Developer’s Kit Internal Block Diagram .
  • Page 8 This page intentionally left blank. viii Magellan Motion Processor Developer’s Kit Manual...

  • Page 9: Installation

    To build a complete control system the DK card is combined with one or more motion axis amplifiers. For MC58000 developer’s kits (DK58420, DK58110), PMD’s Atlas Digital 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.

  • Page 10: Software

    Atlas Digital Amplifier User’s Manual (if DK ordered with one or more Atlas amplifiers) If any of these components are missing, please contact your PMD representative. Software Two major software packages are provided with the Magellan Motion Processor Developer’s Kit cards: Pro-Motion, an interactive Windows-based exerciser program and C-Motion, a C-language library which simplifies the development of motion applications for Magellan Motion Processor Developer’s Kit cards.

  • Page 11: Documentation

    Motion Processors. It includes electrical timing diagrams, mechanical packaging, pin lists, and other hardware-related information. If you will be using PMD’s Atlas amplifiers with your Magellan DK card then these additional manuals will be useful: Part Number Name Description ATLAS-UM-0113 Atlas Digital Amplifier User’s...

  • Page 12: Required Hardware

    Installation Next you will need to connect your system’s motors, encoders, amplifiers, and sensors as desired to operate your motion hardware. See Section 1.7, “Connection Summary” for a description of the connections that are made for the various Magellan Motion Processor Developer’s Kit cards. Once this hardware configuration is complete, you should then install the software.
  • Page 13 Installation a multi-phase signal, 2 or 3 phases per axis, to the amplifier. For Atlas-connected systems only 2-phase may be selected. • Pulse and direction means the card expects to connect to a step motor which uses an Atlas step motor amplifier or standard pulse and direction amplifier.

  • Page 14: Connection Summary

    Installation Item Switches Description S6-5 Axis #4 Motor type setting switch S6-6 Set S6 5-7 dip switches according to the motor type you will be using on axis #4 S6-7 Motor type setting Brushless DC (3 phase) down Brushless DC (2 phase) down Microstepping (3 phase) down...
  • Page 15 Installation amplifiers are used. You may use Atlas amplifiers for certain axes and non-Atlas amplifiers for other axes. In addition, you may use different motor types on each axes. 1.7.1 DC Brush Motor With Atlas Amplifier The following table summarizes connections to the Magellan Developer’s Kit card when DC-brush motors are used with an Atlas amplifier.
  • Page 16 Installation 1.7.3 Step Motor With Atlas Amplifier The following table summarizes connections to the Magellan Developer’s Kit card when two-phase step motors are used with an Atlas amplifier. Atlas amplifier connections are made via J14, the Atlas DK bus connector. See Appendix A, “Atlas Developer’s Kit”...
  • Page 17 Installation primary 100-pin connector. See Chapter 3, “Magellan Developer’s Kit Electrical Specifications” for detailed signal descriptions. Signal Category Signal Description Encoder input signals: A quadrature channel input (per axis) B quadrature channel input Index pulse channel input Amplifier output signals: PWM magnitude (phase A) (per axis, if PWM 50/50 used) PWM magnitude (phase B)
  • Page 18 If your PC does not directly support a serial port you may be able to use a USB to serial converter device. Note that PMD provides such a device (p/n Adapt-USB232-01.R). Contact your PMD representative for more information. Whether connected directly into the PC or into a converted device, the provided DB9 connector presents a standard RS-232 signal scheme, and should work without need for a null modem or other signal converter.

  • Page 19: Applying Power

    1 Pro-Motion – an application for communicating to and exercising the installed developer’s kit. 2 C-Motion – source code that can be used for developing your own motion applications based on the Magellan Motion Processor. These files are installed in the “My Documents\PMD\MagellanSDK\C- Motion” folder.

  • Page 20: 1.10 First Time System Verification

    During this first time system setup you may find it useful to refer to other PMD manuals including the Pro-Motion User’s Guide for complete information on the Pro-Motion application. You may also want to refer to the Magellan Motion Processor User’s Guide to familiarize yourself with operation of the Magellan Motion Processor, which lies at the heart...
  • Page 21 Installation When Pro-Motion is launched you will be prompted with an Interface selection window. A typical screen view when first launching Pro-Motion appears below. 3 Click the Connect icon on the toolbar. Alternatively, on the File menu, click Connect. The purpose of the Interface dialog box is to indicate to Pro-Motion how your Magellan DK card is connected to the PC.
  • Page 22 If communications are not correctly established, after approximately 10 seconds a dialog box appears indicating that a Communications 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...
  • Page 23 Magellan Motion Processor. Should this happen, it is possible to perform a manual tuning or commutation setup if desired. Refer to the Pro-Motion User’s Guide for more information, or call PMD for technical assistance. The Axis Wizard auto tuning routine, which is used with servo motors, is designed to provide stable, but not op- timal, parameters for motion.
  • Page 24 Installation This page intentionally left blank. Magellan Motion Processer Developer’s Kit Manual...

  • Page 25: Operation

     Signal Processing and Hardware Functions The PMD Magellan Motion Processor Developer’s Kit cards are high performance PCI-bus cards that provide motion control for DC brush, brushless DC, and step motors. These cards are based on Magellan Motion Processors which perform motion command interpretation and other real time functions.

  • Page 26: Card Function Overview

    Operation 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.

  • Page 27: Card Specific Functions

    C-Motion to create a virtualized axis handle, that from then on is the reference for all C-Motion commands. Available C-Motion commands correspond one-for-one with those listed in the Magellan Motion Processor Programmer's Command Reference. All C-Motion commands preface the Magellan command with the letters “PMD,” so the Magellan command (for example) SetPosition becomes the C-callable routine.
  • Page 28 PC serial port without a null modem. J1 is a 5-pin connector which is used for multi-drop communications with an external driver card. For more information on external driver cards for multi-drop communications, contact your PMD representative. Regardless of which connector is used, the following information is useful to select baud rates and set other parameters associated with serial pot communications.
  • Page 29 Operation S1-1 S1-2 S1-3 S1-4 S1-5 S1-6 S1-7 S1-8 S2-1 Transmission 1200 rate (bits per second) 2400 down 9600 down 19200 down down 57600 down 115200 down down 250000 down down 416667 down down down Parity None down Even down Stop bits down Protocol...
  • Page 30 Operation Multi-drop address selection (S2) Address S2-4 S2-5 S2-6 S2-7 S2-8 down down down down down down down down down down down down down down down down down down down down down down down down down down down down down down down down...
  • Page 31 Operation Switches Description 8-16 Communication rate. These switches set the CANbus communication rate as follows: S4-6 S4-7 S4-8 Baud setting 1,000,000 baud down 800,000 baud down 500,000 baud down down 250,000 baud down 125,000 baud down down 50,000 baud down down 20,000 baud down...

  • Page 32: Signal Processing And Hardware Functions

    Operation Method Type of reset Description 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”...
  • Page 33 Operation 2.4.1 Home, AxisIn, AxisOut, Limits, Hall Sensors These signals are conditioned by the card, but are output or input directly to the motion processor. The Magellan Motion Processor User’s Guide explains the functions provided in connection with these various signals. Most of the signals are optional, and are connected depending on the nature of the application being used.
  • Page 34 Operation 2.4.3 Pulse & Direction Input Over QuadA, QuadB The Magellan DK card supports an alternate decoding scheme for the QuadA and QuadB position input signals consisting of pulse & direction position feedback interpretation. Normally, the QuadA and QuadB signals are interpreted to be quadrature encoded. After passing through the differential receiver circuitry they are output as digital logic levels directly to the Magellan IC, which only supports quadrature encoded signals at these two pins.
  • Page 35 Operation All of the analog signals described in this section are directly connected to the corresponding pins on the Magellan Motion Processor. For more information on reading the value of these analog inputs, see the Magellan Motion Processor User’s Guide. Connections &...
  • Page 36 Operation Chapter 3, “Magellan Developer’s Kit Electrical Specifications” has complete connection tables for various motor configurations. These signals are named PWMMag1A-4C (12 signals) and PWMSign1A-4B (8 signals). Connections & Associated Signals This group of signals are direct single-signal digital outputs. There are no associated connections that need to be made for these signals to function properly;...

  • Page 37: Magellan Developer's Kit Electrical Specifications

    3.Magellan Developer’s Kit Electrical Specifications In This Chapter  Magellan Configuration Switch Blocks  Magellan Connectors  Outputs to Motor Amplifiers  Encoder Inputs Figure 3-1 shows the locations of the principal components of the developer's kit board. The component side of the board is shown, with the PCI slot connector at the bottom.

  • Page 38: Magellan Configuration Switch Blocks

    Magellan Developer’s Kit Electrical Specifications Magellan Configuration Switch Blocks These switch blocks are oriented horizontally on the developer's kit board; on is up. 3.1.1 S1: Serial Transmission Parameters Switch block S1 sets the transmission rate, parity, stop bits, and protocol. Switch block S2 selects the device address when using the multi-drop protocol.
  • Page 39 Magellan Developer’s Kit Electrical Specifications Multi-drop address selection (S2) Address S2-4 S2-5 S2-6 S2-7 S2-8 down down down down down down down down down down down down down down down down down down down down down down down down down down down down...
  • Page 40 Magellan Developer’s Kit Electrical Specifications Switches Description 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 of 0 and if it is down it encodes a bit value of 1.
  • Page 41 Magellan Developer’s Kit Electrical Specifications • Microstepping means the Developer’s Kit card outputs a multi-phase signal, 2 or 3 phases per axis, to a step motor amplifier that can accept this type of output. Quadrature feedback is optional with this type of motor.
  • Page 42 These jumpers are set at the 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.
  • Page 43 Magellan Developer’s Kit Electrical Specifications Jumper positions for the MC58110 and MC55110 Jumper positions for the MC58x20 and MC55x20 3.1.9 Atlas-Compatible Magellan Jumpers (JP16-JP18) These jumpers are used to select signal connection paths appropriate for Magellan Processors rev 3.0 or later, which are Magellan processors that support Atlas Digital Amplifiers.

  • Page 44: Magellan Connectors

    Magellan Developer’s Kit Electrical Specifications Magellan Connectors This section describes the pinouts for the following cable connectors on the Magellan Motion Processor Developer’s Kit card (shaded areas in diagram below): 5-pin serial communication connector 16-pin analog input connector 100-pin main connector containing encoder input, Hall input, AxisIn signals, AxisOut signals, Motor output signals, and limit switch inputs 20-pin user-defined digital I/O connector 4-pin 5v power connector...
  • Page 45 3.2.3 Motion Peripherals Connector (J4) For use with 2-IC Magellan Processor Developer Kits (DK58420, DK55420) This is a 100-pin high-density connector (2x50, 0.05" spacing). The accompanying cable assembly supplied with your developer's kit consists of two 36" flat ribbon cables terminating together at one end in the matching 100-pin connector.
  • Page 46 Magellan Developer’s Kit Electrical Specifications Header 1 (to J4 pins 1-50) Header 2 (to J4 pins 51-100) DACA1* DACA2* DACA3* DACA4* DACB1* DACB2* DACB3* DACB4* GND (DAC) GND (DAC) GND (DAC) GND (DAC) N.C. N.C. N.C. N.C. Unused signals may be left unconnected. Each converter cable has labels to indicate HDR1 and HDR2. For use with single-IC Magellan Processor Developer Kits (DK58110, DK55110) This is a 100-pin high-density connector (2x50, 0.05"...

  • Page 47: Bottom View Of 50-Pin Header Connector

    Figure 3-5: Bottom view of 50-pin Header Connector For testing purposes, this connector can be mated with a terminal block. PMD suggests Phoenix Contact (http://www.phoenixcon.com/), part number FLKM 50 (Digi-Key part number 2281089-ND). 3.2.5 User-defined Digital IO Connector (J5) These general-purpose IO signals source up to 4mA and can sink up to 8mA. These pins are accessed using the...

  • Page 48: Outputs To Motor Amplifiers

    Magellan Developer’s Kit Electrical Specifications Pin number Signal name No connection Serial Transmit Serial Receive No connection No connection No connection No connection No connection 3.2.8 SPI Atlas Bus Connector (J14) This is a female DB-9 connector. This connector is designed to be compatible with the Atlas DK bus system of cables and cards. See Appendix A, “Atlas Developer’s Kit”...
  • Page 49 PWMSignBn PWM direction Hdr1-20 Hdr1-45 Hdr2-20 Hdr2-45 Hdr1-8 Hdr1-33 Hdr2-8 Hdr2-33 3.3.4 DK58420 and DK55420 Pulse & Direction Motors J4 connection (Header-pin) Signal name Amplifier input Axis 1 Axis 2 Axis 3 Axis 4 Pulse n Pulse or step Hdr1-18...
  • Page 50 Magellan Developer’s Kit Electrical Specifications 3.3.5 DK58110 Brushed Servo Motors J4 connection (Header-pin) Signal name Amplifier input Axis 1 DACAl Ref+ or V+ Hdr1-22 Ref- or Gnd Hdr1-24 PWM sign/magnitude PWMMaglA PWM magnitude Hdr2-36 PWMSignlA PWM direction Hdr2-42 Hdr2-8 3.3.6 Brushless Servo Motors J4 connection (Header-pin) Signal name...

  • Page 51: Encoder Inputs

    Magellan Developer’s Kit Electrical Specifications Encoder Inputs Resistor packs RS1 - RS3 These three resistor packs are at the left end of the developer's kit board, next to the 100-pin connector J4. When using differential encoders, leave these packs in place. When using open-ended encoders, remove all three packs and connect encoder signals to the positive encoder input only.

  • Page 52: Plx Pci Chip Information

    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 assigned IO spaces can be viewed in Device Manager/PMD PCI DK1/Resources. Magellan Motion Processer Developer’s Kit Manual...

  • Page 53: Atlas Developer's Kit

    A.Atlas Developer’s Kit In This Appendix  Overview  Installation and Getting Started  Atlas Carrier Card Reference Information  L-Bracket Overview ATLAS AMPLIFIER Figure A-1: Developer Kit Components L-BRACKET ASSEMBLY ATLAS DK CARRIER CARD ASSEMBLY ATLAS DK DB9 COMMUNICATIONS CABLE To simplify development with Atlas Amplifiers a Developer’s Kit (DK) is available.

  • Page 54: Installation And Getting Started

    Atlas Developer’s Kit The L-bracket is optional but highly recommended because it provides a stable mechanical base from which you can connect and operate your prototype system. With the vertical plate option installed the Atlas units have additional heat sinking, which can be extended further by connecting the vertical plate to your own heat sink or cold plate. Installation and Getting Started In these instructions it is assumed that you have purchased a Magellan DK (Developer’s Kit), which comes with the Pro-Motion exerciser and tuning software.

  • Page 55: Chain Of Dk Carrier Cards

    Atlas Developer’s Kit Connecting Atlas units together is easily accomplished by plugging them directly into each other in a chain, without any intervening cable at the J5 (female) and J4 (male) DB9 connections. Up to four Atlas units can be plugged together in this manner.
  • Page 56 Atlas Developer’s Kit A.2.3 Motor Connections For each Atlas, connect the motor using the chart below and the J1 6-terminal jack screw plug on the carrier card. Use copper wire gauge 14AWG or larger to ensure that all current output requirements can be met. Motor Type Use Motor Connections J1 Jackscrew Plug Labels...

  • Page 57: Atlas Carrier Card Reference Information

    Atlas Developer’s Kit Upon doing so verify that there is no motor movement, all power LEDs are lit, and none of the fault out LED indicators are lit. If any of these conditions is not true, power the Atlas units down and recheck connections. Once a normal power-up is achieved the Atlas units are ready for operation.
  • Page 58 Atlas Developer’s Kit ~Enab Enable Enable input FaultOut FaultOut output Ground return for Enable and FaultOut signals A.3.1.1 Quick Connect Motor Type Chart Motor Type Connections Brushless DC Motor A, Motor B, Motor C DC Brush Motor A, Motor B Step Motor phase A: Motor A, Motor B phase B: Motor C, Motor D...

  • Page 59: J6 Address Selector

    Atlas Developer’s Kit Pulse Pulse & direction mode Pulse signal Direction Pulse & direction mode Direction signal A.3.3 J6 Address Selector J6 is a jumper that programs the address of a particular carrier card when using the SPI bus. The carrier card backplane supports up to four separate Atlas units via four individual chip select signals.

  • Page 60: L-Bracket

    Atlas Developer’s Kit A.3.4.2 Horizontal Unit Connections Figure A-7: Horizontal Unit 11 9 7 5 3 1 Pinouts 12 10 8 6 4 2 22 21 20 19 18 17 16 15 14 13 Name Name Motor D Motor D Motor C Motor C Motor B...

  • Page 61: Mounting Atlas To Vertical Plate

    Atlas Developer’s Kit drawing is shown in Figure A-8. All needed assembly components should be included with the shipment. In addition, you will need 1.5 mm and 2 mm hex wrenches to assemble the carrier cards, Atlas units, and L-bracket together. ATLAS AMPLIFIERS Figure A-8: Mounting Atlas...
  • Page 62 Atlas Developer’s Kit This page intentionally left blank. Magellan Motion Processer Developer’s Kit Manual...

  • Page 63: Reference Schematics

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

  • Page 65: Magellan Motion Processor Cp And Dpram Schematic

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

  • Page 66: Developer's Kit I/O Schematic

    Reference Schematics Figure B-3: Developer’s Kit I/O schematic Magellan Motion Processer Developer’s Kit Manual...

  • Page 67: Developer's Kit Dac Amplifiers Schematic

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

  • Page 68: Developer's Kit Connector And Quadrature Schematic

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

  • Page 69: Developer's Kit Pld Schematic

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

  • Page 70: Developer's Kit Transceivers Schematic

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

  • Page 71: Developer's Kit Plx9030 Schematic

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

  • Page 72: Developer's Kit Pci Edge Connector Schematic

    Reference Schematics Figure B-9: Developer’s Kit PCI edge connector schematic This page intentionally left blank. Magellan Motion Processer Developer’s Kit Manual...
  • Page 73 For additional information, 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...
  • Page 74 This page intentionally left blank.

This manual is also suitable for:

Dk55420Dk58110Dk55110

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