Related Manuals for PMD MC73110
Summary of Contents for PMD MC73110
- Page 1 MC73110 Advanced 3-Phase Motor Control IC Developer’s Kit Manual Performance Motion Devices, Inc. 55 Old Bedford Road Lincoln, MA 01773 Revision 1.1, October 2003...
- Page 2 Performance Motion Devices, Inc. Copyright 1998, 1999, 2000, 2001, 2002, 2003 by Performance Motion Devices, Inc. Navigator , Pro-Motion and C-Motion are registered trademarks of Performance Motion Devices, Inc. ® ® ® MC73110 Developer’s Kit...
- Page 3 Warranty Performance Motion Devices, Inc. (PMD) warrants performance of its products to the specifications applicable at the time of sale in accordance with Performance Motion Devices, Inc.’s standard warranty. Testing and other quality control techniques are utilized to the extent Performance Motion Devices, Inc.
- Page 4 Related Documents MC73110 Advanced 3-Phase Motor Control IC Product Manual (MC73110PM) Electrical Specifications, Theory of Operations, and Command Reference for MC73110 IC. MC73110 Developer’s Kit...
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Page 5: Table Of Contents
3.2.2 Command Window ........................ 29 4.0 Developing Your Own Applications with C-Motion ......31 4.1 Theory of Use ............................. 32 5.0 MC73110 Electrical Reference ............33 5.1 User-Settable Jumper Options ........................33 5.2 Connecting to the Card ..........................34 5.2.1 Power Connector (J1) ......................35 5.2.2 Motor Feedback Connector (J2) ..................... - Page 6 MC73110 Developer’s Kit...
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Page 7: Product Overview
50 -75 Sec/axis The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent 3-phase brushless motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of feedback signals. It can be operated in voltage, torque, or velocity modes and supports standalone operation for use with PMD’s motion processors, other off-the-shelf servo controllers, or via a serial port. - Page 8 PMD Product Overview MC73110 Developer’s Kit Manual...
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Page 9: Installation
When operated in standalone mode, MC73110 param- eters are loaded into the MC73110 at power up via an on-board serial EEPROM which is installed in an 8-pin DIP socket located on the Developer’s Kit card. - Page 10 Installation The following diagram provides a summary of the functions of the MC73110 Developer Kit card. The Developer’s Kit can be used for a number of purposes. It is useful as a: ‘Ready to go’ system that exercises the MC73110 Reference design for an MC73110-based amplifier/drive Pre-production system with which the user’s application can be developed,...
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Page 11: Software
Pro-Motion is described in section 3, Using Pro-Motion, page 21, C-Motion is described in detail in section 4, Developing Your Own Applications with C-Motion, page 31. 2.2 Documentation There are two manuals specifically associated with the MC73110 card. A brief description of each is listed below. Component Name... -
Page 12: Connection Configurations
Internal switcher means that the Developer’s Kit uses its internal 10 Amp continuous (15 amp peak) on-board MOSFET switchers and current sense circuitry to form a complete standalone intelligent amplifier card. This is the normal operating state of the system, and the most convenient to use when initially working with the MC73110 Developer’s Kit. -
Page 13: Installation Sequence
Installation 2.4 Installation Sequence For a normal installation of a MC73110 Developer’s Kit card, you will need to configure your card for the connection configuration you will be using (internal or remote). Configuration of the MC73110 Developer’s Kit card is described in detail in section 2.6, Preparing the Card for Installation, see page 14. -
Page 14: Preparing The Card For Installation
Installation 2.6 Preparing the Card for Installation The following table shows the user-settable jumper options for the MC73110 Developer’s Kit card. For jumper locations see the diagram on the bottom of the page. Jumper Jumper Description setting JP1, JP2 Selects RS-232 communication using on-board transceiver. -
Page 15: Connecting To The Card
Installation 2.7 Connecting to the Card There are a total of seven connectors that can be used with the MC73110 Developer’s Kit card as follows: Connector Name Function Power Provides operating power to the Developer’s Kit card. Motor feedback Inputs various motor-related signals. -
Page 16: Power Connector (J1)
The input range is +/- 60V. If unused this signal may be left unconnected. TachIn- (GND) This is the negative input for the analog tachometer signal. The input range is +/- 60V. If unused this signal may be left unconnected. MC73110 Developer’s Kit Manual... -
Page 17: Motor Connector (J4)
AmplifierDisable This digital output signal provides a programmable output signal indicating the internal state of the MC73110. Normally, a low output indicates an error, while a high signal indicates no error. In addition to being an output at this connector, this signal is also used internally by the MC73110 Developer’s Kit card to shut down the amplifier’s switchers... -
Page 18: Serial Port Connector (J7)
2.8.1 Card Reset During card operations, if at any time you wish to reset the MC73110, you can use the reset button indicated in diagram 2.1 on page 14. Pushing the button will reset the controller. -
Page 19: Software Installation
C-Motion - source code that can be used for developing your own motion applications based on the MC73110. Refer to section 4, page 31, for further information. These files are installed in the “C-Motion” folder, a sub-folder of the installation folder. - Page 20 Installation MC73110 Developer’s Kit Manual...
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Page 21: Using Pro-Motion
In This Section Communication Axis Wizard Main Window The Pro-Motion program facilitates the exercising of the MC73110. All chip parameters can be viewed and modified via standard Windows controls. Pro-Motion features: Project window for accessing chip parameters via properties dialog boxes. -
Page 22: Communication
57600, None, 2, Point to point, 0. Click OK to attempt a connection and proceed to the Axis Setup Wizard. If no connection is made the Interface selection dialog will be displayed again allowing you to modify the interface parameters or run in demo mode. MC73110 Developer’s Kit Manual... -
Page 23: Axis Setup Wizard
Individual Axis settings may be modified later via Pro-Motion’s Axis Properties dialog which is accessed by right-clicking an Axis icon in the Project window and selecting ‘Properties’. The Axis Setup Wizard may be re-run at any time by selecting ‘Axis Wizard’ from Pro-Motion’s View menu. MC73110 Developer’s Kit Manual... -
Page 24: Step #1: Signal Output Settings
On the Signal Output Settings page of the wizard, select the appropriate PWM output mode, PWM limit, PWM dead time and PWM output logic for the amplifier that is connected to the MC73110. The power on default settings are shown below. If you are using the DK Board the PWM dead time should be be reduced to a value of 32 which translates to 1.6 s. -
Page 25: Step #3: Safety Settings
Sinusoidal, the motor will commutate in hall-based mode until a hall signal transition occurs. The phase angle parameter is read-only and cannot be set in the dialog. However, it can be set in the command window using the SetPhaseAngle command. Please see the MC73110 Product Manual for further information on phase initialization. -
Page 26: Step #4A: Check Commutation
This step of the Axis Setup Wizard is used to select the Velocity Integrator Loop parameters. 3.1.6 Step #6: Velocity Loop Parameters This step of the Axis Setup Wizard is used to select the Velocity Loop parameters. MC73110 Developer’s Kit Manual... -
Page 27: Step #7: Current Loop Parameters
When set to SPI the command for the velocity or current loops is a 16-bit value read from the incoming SPI data stream. When set to Profile Generator the command is generated internally based on the Velocity and Acceleration parameters. Click the Finish button to update the motion processor parameters. MC73110 Developer’s Kit Manual... -
Page 28: Main Window
Scroll Lock key will start and stop the output window from displaying communication activity. 3.2.1 Project Window The Project window displays the available DK Board’s and axes in a tree format. Double-clicking on a board or axis will display the properties dialog for that item. MC73110 Developer’s Kit Manual... -
Page 29: Command Window
Using Pro-Motion 3.2.2 Command Window The Command window in Pro-Motion allows you to issue commands directly to the MC73110. The window has a command line style interface that accepts all of the MC73110 commands. The MC73110 Programmer’s Reference contains a full list of commands, along with their required parameters. The command window presents you with the command prompt ‘>’. - Page 30 If nothing is typed in the command window then all of the available commands are displayed. If, for example, “geta” is typed in the command window then the list will contain all the commands starting with “geta”. MC73110 Developer’s Kit Manual...
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Page 31: Developing Your Own Applications With C-Motion
C-Motion includes the following features:- Axis virtualization The ability to communicate to multiple PMD motion processors Can be easily linked to any “C/C++” application Supports serial communication The following files make up the C-Motion distribution: C-Motion.h/C-Motion.c... -
Page 32: Theory Of Use
C-Motion. Refer to this file for the required parameters for each command. The MC73110 Product Manual is the primary source for information about the operation and purpose of each command. -
Page 33: Mc73110 Electrical Reference
In This Section User-Settable Jumper Options Connecting to the Card 5.1 User-Settable Jumper Options The following table shows the user-settable jumper options for the MC73110 Developer’s Kit card. For jumper locations see the diagram on the following page. Jumper Jumper Description... -
Page 34: Connecting To The Card
Figure 5-1. Location of various board elements 5.2 Connecting to the Card There are a total of seven connectors that can be used with the MC73110 Developer’s Kit card as follows: Connector Name Function Power Provides operating power to the developer’s kit card. -
Page 35: Power Connector (J1)
DC-DC converter. The voltage provided at these connections matches the voltage at which the motor will be driven. Pin # Signal Description name 18 - 48V. Current capacity specification should be maximum motor drive + 1amp (to power the card) PowerGnd Ground return for V+ MC73110 Developer’s Kit Manual... -
Page 36: Motor Feedback Connector (J2)
The input range is +/- 60V. If unused this signal may be left unconnected. TachIn- (GND) This is the negative input for the analog tachometer signal. The input range is +/- 60V. If unused this signal may be left unconnected. MC73110 Developer’s Kit Manual... -
Page 37: Rs485 Connector (J3)
The motor connector provides the high voltage 3-phase outputs from the amplifier/switcher to the motor. Pin # Signal Description MotorC Leg 3 of 3 motor coil connections MotorB Leg 2 of 3 motor coil connections MotorA Leg 1 of 3 motor coil connections MC73110 Developer’s Kit Manual... -
Page 38: Remote Switcher Connector (J5)
MCP conditions PWMOutputDisable 2 This signal provides a digital input connected to the MC73110 pin of the same name. A high level on this signal indicates that PWMOutputDisable is not active, a low indicates it is active. -
Page 39: Host Connector (J6)
AmplifierDisable This digital output signal provides a programmable output signal indicating the internal state of the MC73110. Normally, a low output indicates an error, while a high signal indicates no error. In addition to being an output at this connector, this signal is also used internally by the MC73110 developer’s kit card to shut down the amplifier’s switchers... - Page 40 Performance Motion Devices, Inc. 55 Old Bedford Road Lincoln, MA 01733 MC73110 Developer’s Kit Manual...
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