1. Manuals
  2. Brands
  3. Performance Motion Devices Manuals
  4. Microcontrollers
  5. ION N Series
  6. User manual

Performance Motion Devices ION N Series User Manual

Digital drive developer kit
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
ION
/CME N-Series
®
Digital Drive Developer Kit
User Manual
Revision 0.7 / March 2021
Performance Motion Devices, Inc.
1 Technology Park Drive, Westford, MA 01886
www.pmdcorp.com

Advertisement

Table of Contents
loading

Summary of Contents for Performance Motion Devices ION N Series

  • Page 1 /CME N-Series ® Digital Drive Developer Kit User Manual Revision 0.7 / March 2021 Performance Motion Devices, Inc. 1 Technology Park Drive, Westford, MA 01886 www.pmdcorp.com...
  • Page 2 NOTICE This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is protected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or du- plicated in any form, in whole or in part, without the express written permission of PMD.
  • Page 3 Performance Motion Devices, Inc. warrants that its products shall substantially comply with the specifications applicable at the time of sale, provided that this warranty does not extend to any use of any Performance Motion Devices, Inc. product in an Unauthorized Application (as defined below). Except as specifically provided in this paragraph, each Performance Motion Devices, Inc.
  • Page 4 Related Documents ION/CME N-Series Digital Drive User Manual Complete description of the N-Series ION family of digital drives including complete mechanical, electrical, and software specifications. Magellan Motion Control IC User Guide Complete description of the Magellan Motion Control IC features and functions with detailed theory of its operation.

  • Page 5: Table Of Contents

    Table of Contents 1. Introduction..............9 ION/CME N-Series Digital Drive Overview .
  • Page 6 ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 7 List of Figures N-Series ION Digital Drive ..............9 N-Series ION Development Kit .
  • Page 8 ION/CME N-Series Digital Drive Developer Kit User Manual viii...

  • Page 9: Introduction

    1.Introduction In This Chapter  ION/CME N-Series Digital Drive Overview  Part Numbers and Configurations  Developer Kits ION/CME N-Series Digital Drive Overview Figure 1-1: N-Series ION Digital Drive This manual provides a complete user guide for the ION/CME N-Series Digital Drive Developer Kits. For documentation on ION/CME N-Series Digital Drive units, or other members of PMD’s ION Digital Drive family please consult the appropriate documentation.

  • Page 10: Developer Kit Overview

    Introduction and 1,000 watts and utilize a 44 pin (2 x 22) 50-mil header for signal connections and a 7-pin high current connector for the DC bus and motor connections. There are 36 different ION/CME N-Series Digital Drives in all, consisting of the combinations of four motor types (step motor, Brushless DC, DC Brush, Multi-Motor), three host interfaces (Serial, CAN/SPI, Ethernet), and three power levels (low, medium, high).

  • Page 11: Developer Kit Components List

    DK481C0056/02 DD481C0056/02 CAN/SPI DK481C0056/06 DD481C0056/06 CAN/SPI Medium DK481C0056/18 DD481C0056/18 CAN/SPI High DK481D0056/02 DD481D0056/02 Ethernet DK481D0056/06 DD481D0056/06 Ethernet Medium DK481D0056/18 DD481D0056/18 Ethernet High 1.3.2 Component Developer Kits Figure 1-3: N-Series ION DK Showing Component Stack Elements There may be occasions where it is preferable for the user to assemble an N-Series ION developer kit themselves. The main advantage of this is that it allows developer kit setups to be created with N-Series IONs other than the multi- motor type.

  • Page 12: Getting Started & Installation Overview

    • Metal heat sink base with rubber feet • USB to 3-pin serial programming cable • Additional cables or accessories, depending on the host interface type of the ION unit The following software and design materials are also included with each N-Series ION Developer Kit: •...

  • Page 13: Software Installation

    • Cables as required to connect to the motor and associated motion hardware such as feedback signals. • Power supply. The N-Series ION Drive requires only a single voltage supply. Its internal logic and other circuitry is powered from this input voltage using an internal DC to DC converter. The input voltage range is 12-56V.
  • Page 14 • Motion oscilloscope graphically displays processor parameters in real-time • AxisWizard to automate axis setup and configuration • Position loop and current loop auto-tuning • Project window for accessing motion resources and connections • Ability to save and load settings •...

  • Page 15: Interconnect Board Overview

    • Ability to communicate via PC/104 bus, serial, CAN, Ethernet, or SPI • Provided as a single DLL and Visual Basic .NET source code for easy porting onto various PC environments DK Interconnect Board Overview Figure 1-4 shows the location of various components for the three different DK interconnect boards which differ in the host interface type;...

  • Page 16: Connecting The Board

    Figure 1-6: Ethernet Host J11-1 Interface DK Interconnect Board J11-2 The following table identifies these components: Label Description HV Power Connector Motor Drive Connector Feedback Connector Hall Signals Connector Auxiliary Connector Motion Signals Connector Indexer Connector Host SPI Connector (CAN/SPI DK version only) Programming Connector Host CAN Connector (CAN/SPI DK version only) Expansion CAN Connector...

  • Page 17: Brushless Dc Motor Connection Overview

    (J6) (J1) Figure 1-7: Motion Signals HV Power Brushless DC Connector Connector (J2) Enable Limits Motor Motor Drive Connection Connector Overview Motor A (J9) N-Series ION Programming Motor B Brushless DK Interconnect Connector DC Motor Board Motor C QuadA, B, Index (J3) Feedback Brake Home...
  • Page 18 The connections highlighted in the figures above are provided below in table form. Signal Pin # Comments Feedback Connector (J3) +5V and GND may be used to power the encoder QuadA1+, QuadA1- 3, 4 Encoder optional for step motors. If single-ended encoders used connect to + (positive) only QuadB1+, QuadB1- 5, 6...
  • Page 19 Pin # Signal Name Description Index+ Differential Index+ input. optional for step motor Index Differential Index- input. optional for step motor 1.9.2.1 Single-ended Encoder Connections Encoder inputs may be connected differentially, with two wires per signal (as shown in the table above), or with just one wire per signal.

  • Page 20: Pc To N-Series Ion Dk Board Connection

    1.9.5 Programming Connector (J9) Figure 1-10: PC to N-Series USB to 3-pin Programming Cable Host PC ION DK Board (P/N Cable-USB-3P) Connection Cable Board Port In this first-time installation we will use the N-Series ION’s 3-pin serial programming interface for communicating to the PC.
  • Page 21 1.9.7 Motor Drive Connector (J2) The following table details the motor drive connector (J2). There are four motor drive connections and a shield connection. Not every motor type uses all four drive connections. The J2 Motor Drive Connector is a Würth Elektronik 5 Position Terminal Block Header P/N 691313710005. Pin # Signal Name Description Motor A...
  • Page 22 QuadA2- Auxiliary encoder differential A- quadrature input QuadB2+ Auxiliary encoder differential B+ quadrature input QuadB2- Auxiliary encoder differential B- quadrature input Index2+ Auxiliary encoder differential Index+ input Index2- Auxiliary encoder differential Index+ input 1.9.9 Indexer Connector (J7) The following table details the Indexer Connector (J7). This connector is an 10-pin jackscrew style connector. Pin # Signal Name Description Ground...
  • Page 23 N.C. 1.9.12 Expansion CAN Connector (J11-1, J11-2) The following table details the Expansion CAN Connectors (J11-1 and J11-2), which consist of two 8-pin RJ45 connectors wired such that each J11-1 pin connects to the matching J11-2 connector pin (daisy chain configuration). J11-1 Pin # J11-2 Pin # Signal Name...

  • Page 24: Enabling The N-Series Ion

    1.9.15 Host Ethernet Connector (J13) The following table details the Host Ethernet Connector (J13), which is provided with Ethernet host interface N-Series ION DKs. This connector is a female RJ-45. Pin # Signal Name Description EthernetTx+ Ethernet differential transmit positive EthernetTx- Ethernet differential transmit negative EthernetRx+...
  • Page 25 3 Execute a simple point to point move profile demonstrating that the axis is operating correctly and under stable control. During this first time system setup you may find it useful to refer to other manuals including the Magellan Motion Control IC User Guide.
  • Page 26 If serial communication is correctly established, a set of object graphics loads into the Project window to the left, as shown in the following figure. For example, you will see the N-Series ION name next to an icon of the drive, and below that you see an axis icon.
  • Page 27 The Axis Wizard initialization window appears. 3 Click Next and follow the Axis Wizard instructions for each page of the axis initialization process. A typical Axis Wizard sequence takes 5-10 minutes. The most common reasons for the Axis Wizard to not complete normally are an inability to auto-tune the motor, or problems determining the correct commutation sequence for brushless DC motors.
  • Page 28 3 Click the Trajectory button in the Axis Control window. The Trajectory dialog box appears. 4 In the Profile mode list, select Trapezoidal. 5 Enter motion profiles for deceleration, acceleration, velocity, and destination position (Position 1) that are safe for your system and will demonstrate proper motion. Pro-Motion provides various selectable units for distance and time, but defaults to units of encoder counts (or pulses for step motors) for distance and seconds for time.

  • Page 29: Saving Your Settings

    1.13 Saving Your Settings The very last screen in the axis wizard sequence is called “Completing the Axis Wizard” and serves the purpose of reminding you to save the control parameter settings that you established with the Axis Wizard to a project file. Projects are a useful way to manage multiple Pro-Motion sessions, particularly when experimenting with different hardware setups or different control parameter groupings.
  • Page 30 ION/CME N-Series Digital Drive Developer Kit User Manual...

  • Page 31: Connecting Via Host Interfaces

    2.Connecting via Host Interfaces In This Chapter  Connecting via Host Interfaces  C-Motion Engine User Code Development In the previous chapter’s ‘getting started’ description the PC was communicating to the N-Series ION via its programming port using the 3-pin programming cable. However there will likely be times when you want to connect Pro-Motion to the N-Series ION via its native host interface, either CAN FD, serial, Ethernet, or SPI.
  • Page 32 Ixxat 1.01.0353.22012 USB to CAN FD connector, RJ45 interface No CableWholesale 10x8-56101 6' Cat 6 Ethernet connector cable TRM-RJ45-02 RJ45 CAN terminator For detailed wiring information on the PMD-manufactured accessories listed above, refer to Section 3.3, “Selected Cable & Accessory Specifications.” 2.1.2 Setting Up the ION For CAN Communications Here is the Pro-Motion sequence used to set up the N-Series ION to connect via its CAN host interface.

  • Page 33: Activating Serial Communications

    If communication is not successful, after about 30 seconds, a Communications Timeout Error dialog box appears. If this happens, recheck your connections, and retry to establish CAN communications. When CAN communications are functioning properly, the final step is to disable serial communications. 2.1.4 Disconnecting Serial Communications The last step is to disconnect the programming port serial connection.
  • Page 34 ports. To order this cable contact your local PMD representative. For convenience the two cables mentioned above are listed in the table below: Included with Vendor Description Serial DK Cable-USB-DB9 Male DB9 to USB serial converted cable. Cable-4355-01.R Male DB9 dual serial to two single-channel female DB9 cable.
  • Page 35 1 Click the Connect toolbar button. 2 Select RS232 and then click OK. 3 Enter the same serial port settings as were programmed into the ION previously. 4 When complete, click OK. If RS232 communication is successful, an additional set of graphical icons representing your N-Series ION and axis will be loaded into the Project window.

  • Page 36: Rs485 Signal Connection Diagram

    Figure 2-4: RS485 Signal Connection Diagram Host/Master Port DK Board J12 DK Board J12 DK Board J12 Host Serial Connector Host Serial Connector Host Serial Connector ION #3 ION #1 ION #2 RS485 is a master slave system. When connecting to a PC running Pro-Motion the PC functions as the master, and each N-Series ION in the network functions as a slave.
  • Page 37 The table below provides a summary of the available serial network settings as well as recommended values for creating the RS485 network: Default Parameter Setting Setting Options Comment Override RS485Sel pin no If this field is set to “no” the value of pin 9 of the serial N-Series ION’s Signal Connector (which can be accessed on the DK board via Pin 9 of J7, the Indexer Connector), will be read to select RS232 or...

  • Page 38: Activating Ethernet Communications

    selected. The programmed baud rate should match the baud rate entered into the N-Series IONs, the protocol should be programmed to multi-drop, and the correct address/node ID should be entered. With the full network powered on, If RS485 communication is successful, an additional set of graphical icons representing each of the N-Series IONs on the network will be loaded into the Project window.

  • Page 39: Activating Spi Communications

    5 Click OK to store as the power on default. 6 Click the Reset toolbar button. After the ION is reset, it uses the default parameters that you specified. The N-Series ION has now been programmed to be ready for Ethernet communications. 2.3.2 Setting Up Pro-Motion For Ethernet Communications...
  • Page 40 Figure 2-5: PC to N-Series Host PC ION DK SPI Connection Board Diagram USB-8452 Port Cable- USB to NI Module 6001-01 Module Cable The major components required for PC to N-Series ION CAN/SPI DK communications are listed below: Part Item number Manufacturer Description...

  • Page 41: C-Motion Engine User Code Development

    To setup Pro-Motion to communicate by SPI: 1 Click the Connect toolbar button. 2 Select SPI, and then click OK. If SPI communication is successful, an additional set of graphical icons representing your N-Series ION and axis will be loaded into the Project window. If communication is not successful, after a few seconds, a Communications Timeout Error dialog box appears.
  • Page 42 The Pro-Motion link is generally always present during CME code development and execution. Host Network Link Many N-Series ION units in the actual application will be linked to a host/supervisory network to receive commands and report results and status. An example of a host network link is a factory floor network. The host network link often uses an application-specific custom protocol or end-industry specific standard protocol to command the N-Series ION.
  • Page 43 2.5.3 Setting Up the Development Connections Assuming that a functional Pro-Motion connection exists to the N-Series ION via Serial3, the programming port, the first step is to set up the host network connection if this has not been done already. Depending on the host interface you plan to use, refer to Section 2.1, “Activating CAN Communications”...
  • Page 44 2.5.4.1 Code Compilation, Downloading & Execution The C-Motion Engine Development Tools Manual provides detailed step by step information on how to the edit, compile, and link source application code. The C-Motion Engine development environment uses the ‘Programmer’s Notepad’ text editor and the GNU Compiler Collection (GCC) compiler and linker. Once a .bin file has been generated it can be transferred and stored in the N-Series ION’s CME using Pro-Motion.

  • Page 45: Reference

    3.Reference In This Chapter  Developer Kit Contents  Selected Cable & Accessory Specifications  Component Developer Kit Assembly N-Series ION Unit Part Numbers and Configurations There are 36 different ION/CME N-Series Digital Drives in all, consisting of the combinations of four motor types (step motor, Brushless DC, DC Brush, Multi-Motor), three host interfaces (Serial, CAN/SPI, Ethernet), and three power levels (low, medium, high).

  • Page 46: Developer Kit Hardware Contents

    DD411C0056/06 CAN/SPI Medium (350W) 12-56V DC Brush DD411C0056/18 CAN/SPI High (1,000W) 12-56V DC Brush DD411D0056/02 Ethernet Low (75W) 12-56V DC Brush DD411D0056/06 Ethernet Medium (350W) 12-56V DC Brush DD411D0056/18 Ethernet High (1,000W) 12-56V DC Brush Multi Motor DD481S0056/02 Serial Low (75W) 12-56V Multi Motor DD481S0056/06...
  • Page 47 3.2.2 CAN/SPI Host Interface DKs The table below lists the hardware components and accessories provided with CAN/SPI host interface N-Series ION DKs, P/Ns DK481C0056/02, DK481C0056/06, DK481C0056/18, and DK4X1C: Name PMD P/N Description N-Series ION Stack* N-Series ION unit** DD481C0056/02 (low power) Either low, medium, or high power multi- DD481C0056/06 (medium power) motor CAN/SPI interface N-Series ION...
  • Page 48 Name PMD P/N Description Ethernet cable Standard 6' Cat 6 Ethernet connector cable Allen key*** 1.5 mm Allen key * With the pre-assembled DKs the ION unit, interconnect DK PCB, base plate, thermal pad, and mounting screws are all pre-assembled together and the ION unit is soldered into the PCB.

  • Page 49: Selected Cable & Accessory Specifications

    Selected Cable & Accessory Specifications PMD Part #: Cable-4355-01.R P1 DB9 P1 DB9 Signal Srl1 DB9 Srl2 DB9 Pin# Name Pin# Pin# Description: Male DB9 dual serial to two N.C.* N.C. N.C. single-channel female DB9 cable Srl1Xmt N.C. Srl1Rcv N.C. Length: 5 ft (1.5 m) N.C.

  • Page 50: Conversion Factors, Defaults And Limits

    Conversion Factors, Defaults and Limits To correctly control various N-Series ION features it may be helpful to know certain drive-specific scale factors. The following tables summarize these values. 3.4.1 Conversion Factors, Low Power Units The following table provides electrical conversion factors for low power level N-Series ION units (P/Ns: DD4X1X0056/02).
  • Page 51 Setting Default Setting Low Limit High Limit 1.5 A 0.0 A 1.5 A t continuous current limit, step motor t energy limit, Brushless DC 2.95 A 0.0 A 2.95 A Motor t energy limit, DC Brush Motor 3.63 A 0.0 A 3.63 A t energy limit, step motor 2.95 A...
  • Page 52 Setting Default Setting Low Limit High Limit 5.0 A 0.0 A 5.0 A t continuous current limit, step motor t energy limit, Brushless DC 25.1 A 0.0 A 25.1 A Motor t energy limit, DC Brush Motor 28.1 A 0.0 A 28.1 A t energy limit, step motor 28.2 A...
  • Page 53 Setting Default Setting Low Limit High Limit 13.4 A 0.0 A 13.4 A t continuous current limit, step motor t energy limit, Brushless DC 257.4 A 0.0 A 257.4 A Motor t energy limit, DC Brush Motor 280.5 A 0.0 A 280.5 A t energy limit, step motor 281.0 A...

  • Page 54: Component Developer Kit Assembly

    Component Developer Kit Assembly 3.5.1 Overview Figure 3-1: N-Series ION DK Showing Component Stack When using non pre-assembled N-Series ION DKs assembly of the N-Series ION with the DK components is required. Along with the N-Series ION unit, which is not included with non pre-assembled DKs and must be ordered separately, the component stack elements are listed in the table below from top to bottom.

  • Page 55: Mounting Thermal Pad To N-Series Ion

    The next few sections will provide detailed instructions for assembling a complete DK stack from the components listed above. For additional information on mechanical mounting of the N-Series ION unit refer to Section 3.7, “Mechanical Mounting.” For additional information on DK P/Ns and contents refer to Section 3.2, “Developer Kit Hardware Contents.”...
  • Page 56 A fuse break event serves as a signal to the operator to revise their procedure so that the tab mounting torque limits are not exceeded during future attachment procedures. For detailed mounting torque specifications refer to Section 3.7.2.2, “Installation & Torque Limits.” Soldering the N-Series ION to the DK PCB The final step of the DK stack assembly process is to solder the DK PCB to the N-Series ION.

  • Page 57: Physical Dimensions

    Physical Dimensions 3.6.1 N-Series ION Unit Figure 3-3: ION/CME N- Series Digital Drive Physical Dimensions ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 58 ION/CME N-Series Digital Drive Developer Kit User Manual...

  • Page 59: Base Plate Dimensions

    3.6.2 Developer Kit Figure 3-4: DK Base Plate Dimensions Figure 3-5: Interconnect Board Dimensions ION/CME N-Series Digital Drive Developer Kit User Manual...

  • Page 60: Mechanical Mounting

    Mechanical Mounting Figure 3-6: Mechanical Elements of N- Series ION Drive The N-Series Drives are designed to be used in a wide variety of operating conditions. As shown in Figure 3-6 they have a robust mechanical design that allows rigid mechanical attachment at the two primary interface points; the interface between the N-Series Drive and the user PCB, and the interface between the N-Series Drive and the heat sink or cold plate also called a supporting plate.

  • Page 61: N-Series Ion Mounting Options

    3.7.2 Attachment to the Heat Sink Figure 3-7: N-Series ION Mounting Options 3.7.2.1 Installation Overview Attachment to the heat sink or supporting plate is accomplished via screws at the N-Series ION’s four mounting tabs. As shown in Figure 3-7 there are four typical approaches to mechanically attaching to the heat sink. The first is mounting from the heat sink side.
  • Page 62 When using this method the thickness of the shim washer should be determined by the type and thickness of thermal transfer material used to create a vibration resistant mount, while maintaining optimal thermal transfer. Note that in this approach, the N-Series ION's fuse tab mechanism, which normally acts to limit the maximum force that can be applied via the tabs, is effectively bypassed.

  • Page 63: Recommended N-Series Ion Thermal Transfer Material Dimensions

    This is achieved by the tab deliberately breaking (snapping) under conditions of over tightening. Such a protective fuse break event (snap) of the tab should be audible to the operator during tightening. While an N-Series Drive unit that has undergone a fuse break event during tightening is no longer usable, it serves as a signal to the operator to check and revise their torque control procedure so that the tab mounting torque limits are not exceeded during future attachment procedures.
  • Page 64 available interfaces beginning at 5 mils (.127 mm) or even less. For use with N-Series IONs thermal transfer materials that are thicker than 40 mils (1.0 mm) are not recommended regardless of the material used. When using thermal paste or thermal epoxy glue the thickness should be carefully controlled via a silk screen or other wet film application process.

  • Page 65: Interconnect Board Schematics

    4.DK Interconnect Board Schematics In This Chapter  DK Interconnect Board Schematics DK Interconnect Board Schematics The schematics on the next three pages are the designs for the ION/CME N-Series Digital Drive Developer Kit’s printed circuit board, differing by the host communication variant. As the N-series ION is designed to limit the requirement for external components, the interconnect boards simply provide connectors to all pins on the N-series ION, similar to a breakout board.
  • Page 66 4.1.1 Serial Host Interface Type Figure 4-1: Serial Host Interface DK Interconnect Board Schematic ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 67 4.1.2 CAN/SPI Host Interface Type Figure 4-2: CAN/SPI Host Interface DK Interconnect Board Schematic ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 68 4.1.3 Ethernet Host Interface Type Figure 4-3: Ethernet Host Interface DK Interconnect Board Schematic ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 69 ION/CME N-Series Digital Drive Developer Kit User Manual...
  • Page 70 ION/CME N-Series Digital Drive Developer Kit User Manual...

This manual is also suitable for:

Cme n series

Table of Contents