Leetro MPC2810 User manual

MPC2810
Hardware Manual
Rev. 1.0
December, 2008

MPC2810 Motion Controller Hardware Manual
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The content of this manual has been carefully prepared and is believed
to be accurate. However, no responsibility is assumed for
misunderstanding and inaccuracies.
Leetro Automation Co., Ltd. reserves the right to make changes
without further notice to any products herein to improve reliability,
function or design. Leetro Automation Co., Ltd. does not assume any
liability arising out of the application or use of any products or
circuitry described herein; neither does it convey any license under its
patent rights of others. Both Step-Servo™and Leetro™are trademark
of Leetro Automation Co., Ltd.
Leetro’s general policy does not recommend the use of its products in
life support or aircraft applications wherein a failure or malfunction of
the product may directly threaten life or injury. Per Leetro’s terms and
conditions of sales, the user of Leetro Automation Co., Ltd. products
in life support or aircraft applications assumes all risks of such use and
indemnifies Leetro Automation Co., Ltd. against all damages.
Contact
Leetro Automation Co., Ltd.
Building 8-B
Dayi Zone of Incubating Hi-tech
No.1 South 2nd Keyuan Road
Chengdu 610041
CHINA
Internet: http://www.leetro.com
Email: [email protected]
Tel: [phone]
FAX: [phone]
©2010 by Leetro Automation Co., Ltd. All Rights Reserved

MPC2810 Motion Controller Hardware Manual
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Preface
Thank you for buying and using Leetro Automation’s Leetro™motion
controllers.
MPC2810 is a high-performance universal motion controller developed by
Leetro Automation Co., Ltd. Please read through this manual for
specifications and proper use, especially the “Safety Precautions”section.
Your motion controller has been designed to work with both servo and
stepper motors. Installation and system setup will vary depending on whether
the controller will be used with stepper motors or servo motors.

MPC2810 Motion Controller Hardware Manual
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Safety Warnings
Please pay attention to following warnings to avoid any injury or machine
damage.
In this document, the following symbols are used to indicate the
level of damages. Ignoring the warnings might cause injuries.
The following symbols represent "MUST NOT" or "MUST"
operations which you have to observe.
Routine Safety Precautions
Please read through the routine safety precautions to avoid any injury or
property damage.
Use only quality power cables.
Make a connection or disconnection correctly and securely. The power
shouldn’t be turned on till the wire connection completes. The control
Indicates a potentially hazardous situation, if not
avoided, will result in death or serious injury.
Danger
Indicates a potentially hazardous situation, if not
avoided, will result in minor injury or property damage.
Represents "MUST NOT" operation, which is
inhibited.
Represents "MUST" operation, which has to be
executed.
Caution

MPC2810 Motion Controller Hardware Manual
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card should be connected to the Breakout board first, then the motors and
drives to the Breakout board. To disconnect the system correctly and
securely, make sure to turn off the external power supply first.
Disconnect the motors and motor drives from the Breakout board, and
then disconnect the control cards from the Breakout board.
Do not operate if there are suspicions of potential errors. If you suspect
any parts of the Product are damaged, please have them inspected by
qualified technicians.
Do not subject the Product to water, corrosive or flammable gases, and
combustibles.
Keep the Product from dust and humidity.
Prevent the Product from ESD damage. Do not touch the electronic
components on the control cards. Do not place the control cards on
surfaces possible to have ESD impacts on the Product. Place the control
cards in ESD-proof bags or packages.

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Warranty Information
This is to certify that MPC2810 controllers are guaranteed by Leetro
Automation Co., Ltd. to be free of all defects in material and workmanship
for a period of 12 months from the date of delivery. The warranty does not
apply to any defect caused by negligence, misuse (including environmental
factors), accident, alteration, or improper maintenance.
If, within one year from the date of delivery, any part of the Product should
fail to operate, contact the company Customer Service department in the
region and report the problem. When calling for support, please be prepare to
provide the dates of purchase and delivery, model number and serial number
of the unit, and a brief description of the problem.
Leetro Automation Co. Ltd neither assumes nor authorized any
representative or other person to assume for us any other warranties in
connection with the sale, service, or shipment of our products. Leetro
Automation Co. Ltd. reserve the right to make changes and improvements in
the design of our products at any time without incurring any obligation to
make equivalent changes in products previously manufactured or shipped.
Warranty Period
Leetro Automation Co., Ltd. warrants its motion control cards against defects
in materials and workmanship for a period of 12 months from the date of
delivery. During the warranty period, Leetro Automation will either, at its
option, repair or replace products which prove to be defective.

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Warranty Range
If the Product failed or has been damaged due to company’s
manufacturing and is within the warranty period, we will repair or replace it.
Following cases are exclusive from the warranty:
Failure and damage caused by improper operation or improper
operating environment.
Failure and damage caused by the devices or the control software
produced by other than our company.
Repair and modification by other than our company.
Failure and damage caused by natural disasters.
Customers are responsible for the shipping costs.
Product Application Precaution
The Product is designed for general industrial applications. Leetro does not
recommend the use of its products in life support or aircraft applications
wherein a failure or malfunction of the product may directly threaten life or
injury.
Maintenance
Routine maintenance and inspection of the motion controller are essential for
the proper and safe operation.

MPC2810 Motion Controller Hardware Manual
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TABLE OF CONTENTS
1 OVERVIEW....................................................................... 1
1.1 INTRODUCTION ............................................................................................1
1.2 THE MANUAL IS FOR ....................................................................................2
1.3 FEATURES ....................................................................................................2
1.4 SPECIFICATIONS ...........................................................................................4
1.5 TYPICAL CONTROL SYSTEM.........................................................................5
2 Quick Installation............................................................... 6
2.1 CHECK YOUR PACKAGE...............................................................................6
2.2 MPC2810/P62-01/P37-05/P62-02 LAYOUT ................................................6
2.3 HARDWARE INSTALLATION........................................................................10
2.4 SOFTWARE INSTALLATION .........................................................................10
2.5 UNINSTALL SOFTWARE...............................................................................20
2.6 SOFTWARE UPDATE....................................................................................20
3 How to Use ...................................................................... 21
3.1 PARAMETER SETUP....................................................................................21
3.2 SIGNAL INTERFACE ....................................................................................22
3.2.1 Breakout board-P62-01......................................................................22
3.2.2 Universal I/O Extension Cable-C4037...............................................24
3.2.3 Breakout board-P62-02......................................................................26
3.3 CONNECTION .............................................................................................29
3.3.1 Connect MPC2810 to P62-01 ............................................................29
3.3.2 Connect P2810 to Power Supply........................................................30
3.3.3 Connect P62-01 to Motor Drive.........................................................30
3.3.3.1 OUTPUTS...................................................................................30
3.3.3.2 CONNECT ENCODER INPUTS...............................................32
3.3.3.3 CONNECT DEDICATED INPUTS............................................33
3.3.3.4 CONNECTING UNIVERSAL I/O.............................................33
4 System Debugging........................................................... 36
4.1 DESTINATION PATH ....................................................................................36
4.2 HOW TO USE THE DEBUGGING PROGRAM...................................................37
5 Typical Connection.......................................................... 42
5.1 CONNECT MPC2810 TO DMD808 STEPPER MOTOR DRIVE......................42
5.2 CONNECT MPC2810 TO PANASONIC MINASASERIES SERVO MOTOR
DRIVE..............................................................................................................43

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1 OVERVIEW
1.1 Introduction
Leetro™MPC2810 is a high-performance 1 to 4-axis PCI-BUS card for stepper
motors and digital servo motors. Multiple MPC2810 control cards can be put in a
PC to control up to 16 axes.
MPC2810 motion control card adopts IBM-PC and its compatible PC as the host
computer. It is a PC-based control unit for stepper motor and digital servo motor.
With the advanced Field Programmable Gate Array (FPGA), MPC2810 provides
dedicated motion control features such as pulse/direction or CW/CCW signal
output, forward/reverse limit and origin input for each axis,
acceleration-deceleration control, linear and circle interpolations, and much more.
For step motors/servo motors, pulse output rate up to 2.0 MHz provides fast and
smooth motion for full step or micro-stepping drivers.
Based on MPC2810’s powerful functions and Windows DLL, the user can
develop various motion control system easily. Library, header files and module
declare files are applicable for current popular programming development tools
such as Visual Basic6.0 and Visual C++6.0. MPC2810’s functions are also
conveniently applicable for other 32-bit Windows development tools such as
Delphi, C++ Builder, and etc. Moreover, the configuration software that supports
Windows DLL can also use MPC2810 motion controller.

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MPC2810 motion controller is widely used in the following areas: the laser
processing machines, the CNC machines, the machining center, the robots, the
X-Y-Z control set, the painting instruments, the engraving machines, the printing
machines, the feeding machines, the marking machines, the coiling machines,
the medical machines, the packing machines, the textile machines, the
woodworking machines and the assemble line.
1.2 The manual is for
MPC2810
1.3 Features
Motion modes
Two modes are available: batch processing and immediate processing.
Interpolation of continuous micro-line segments trajectories
Look-ahead capability to achieve high-speed and smooth interpolation
of continuous micro-line segments trajectories
High-speed
Pulse output to 2Mpps
Max working steps
32-bit (2147483647) pulse counter
Encoder
2-CH 3-phase (A/B/Z phase) encoder inputs
Noise Cancellation
Opt-isolated digital I/Os ensuring the noise cancellation ability of
MPC2810
Universal outputs and inputs
Besides the special I/Os for each axis, the card has 24 universal
outputs (200mA driving capability for each CH), and 18 universal
inputs. With origin, limit, deceleration and alarm inputs which can be

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set as universal inputs inclusive, there can be up to 35-CH universal
inputs.
Interpolations
2 to 4-axes linear interpolation and 2-axes circular interpolation
Event processing
Internal events can be triggered automatically once the motion control
card receives signals such as forward limit, reverse limit, origin, Z
pulse, stop, alarm, etc. User can easily write event processing program.
Comparative position control output
Interface commands are used for setting the universal outputs 1-4 as
comparative position control outputs.
Encoder latch
MPC2810 motion controller can latch encoder feedback signals of
1-Ch and 2-Ch.
Destination Position Verify
Automatic destination error compensation
Set acceleration-deceleration
User can easily set acceleration-deceleration process if the default
T/S-curve modes can not satisfy user’s requirements.
Input interface for manual pulse generator
Electronic gearing
Watchdog timer
Software limits
Tracking error limit
When axis1 or axis2 following error overruns the set maximum limit,
MPC2810 automatically stops corresponding axis’s motion when user
enable the function.

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1.4 Specifications
Form 1-1 MPC2810 Motion Control Card Specs
Item MPC2810
Main interface PCI (3.3 or 5V）
Axes 1 to 4
Encoder inputs (CH) 2-CH
Encoder counter 2-CH, 32bit, 2147483647,A/B/Z phase (2Mpps), differential
interface
Universal inputs DC24V 18 opto-isolated inputs
Universal outputs 24 outputs, 200mA max open collector
Specialized inputs 4 inputs each axis (forward limit, reverse limit, origin,
ramp-down), Alarm (Common)
Max. pulse output
frequency
2MHz
Min.pulse output
frequency
0.2Hz
Variable speed mode Trapezoidal, S-curve or user-defined profile control
Pulse output mode Pul/Dir output (Pulse/Direction), or CW/CCW
Output pulse counter 32bit, 2147483647 each axis
Min. effective pulse
width of Z pulse
0.5μs
Multiple cards applicable 4 cards
Watchdog timer Timer range: 1～60000 ms
Following-error-overrun It can be set for axis-1 and axis-2
(Allowable error: 16777216)
Operation System WINDOWS 2000, WINDOWS XP

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1.5 Typical Control System
A typical motion control system that uses MPC2810 as motion control card is
comprised of:
1) MPC2810 motion control card and breakout board;
2) PC or industrial control computer with PCI slot, Windows2000/XP
operation system;
3) Stepper motor or digital servo motor;
4) Motor drives;
5) Power supplies for motor drives;
6) DC switch power supply, providing +24V power to the breakout
board.
Fig.1-1 Control System using MPC2810
Worktable
Motion Control Card
Breakout Board
Motor Drive
Motor
PC

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2 Quick Installation
2.1 Check Your Package
Standard package list:
1* MPC2810 motion control card;
1* P62-01 breakout board or 1* P62-02 breakout board;
1* 62-pin shielded cable, 2m;
1* Software toolkit.
Following optional accessories are used for providing more universal I/O
ports if required:
1* C4037 universal I/O extension cable;
1*P37-05 breakout board (matching P62-01 breakout board);
1*37-pin shielded cable, 2m.
2.2 MPC2810/P62-01/P37-05/P62-02 Layout
There are two types of breakout board: P62-01 and P62-02. Only special
input/output signals, such pulse, direction, limits, origin, ramp-down etc., and a
few universal I/O connectors are on the P62-01 board. All motion control card
signals connectors are on the P62-02.
(1) MPC2810 motion control card
4 indicator lights on the back of the board
J1: connect interface for 62-pin shielded cable
J2: connect interface for 40-pin flat cable of universal IO extension cable
Switch: used for setting the local ID of cards if multiple cards are applied.

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170
120
Fig. 2-2 MPC2810 Dimensions (mm)
P
ower converter
module 24V-5V
8-CH universal
output circuit
Pul/dir
output
2 axes encoder
input circuit
20-CH dedicated
Input circuit
16-CH universal
input circuit
16-CH universal
inputs circuit
FPGA
J1 J2
Indicator lights
Dialer
Fig. 2-1 MPC2810 Layout Diagram

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（2）Breakout board-P62-01 for MPC2810
P62-01 Dimensions: (mm)
Mounting Hole Dimensions: 3mm.
Fig. 2-3 P62-01 Breakout Board
D61
D59
D57
D55
D53
D51
D49
D47
D45
D43
D62
D60
D58
D56
D54
D52
D50
D48
D46
D44
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D13
D14
D15
D16
D17
D18
D19
D20
D41 D39 D37 D35 D33 D31 D29 D27 D25 D23 D21
D42 D40 D38 D36 D34 D32 D30 D28 D26 D24 D22
110mm
85mm
85
72
86
110
Fig. 2-4 P62-01 Dimensions

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（3）Breakout board-P37-05 for I/O extension board (mm)
Mounting Hole Dimensions: 3.5mm.
（4）Breakout board-P62-02 for MPC2810
Fig. 2
-
5 P37
-
05
Breakout
Board
76
91
68.581
CN2 CN1
CN3
ENC1
AXIS1
ENC2
CN5 CN4
AXIS2
AXIS3 AXIS4
135
145
120
130
Fig. 2-6 P62-02 Breakout Board

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2.3 Hardware Installation
PC minimum hardware requirements:
X86 compatible PC with PCI slot
586+ CPU
256M+ Memory
Hardware Installation Steps:
1) Plug motion control card to the PCI-slot of the PC.
2) Connect the motion control card to the Breakout board
3) Connect the motor to motor drive
4) Connect motor drive to Breakout board
2.4 Software Installation
The motion control card can be operated under either Win2000 or WinXP
operating systems. Windows can automatically detect the MPC2810 when
plugged into the PC, and its Plug-and-Play capability will automatically install
the card. When you see the pop-up dialog box indicating that new device is
found, please click “cancel”and install the driver, function storehouse and demo
programs as following steps:
1) Click “Cancel”when the system indicates “Unknown PCI Device”
found.
Do not touch any controller circuits or plug-pull controller until
you touch a
grounded metal object to discharge
the electrostatic charge of your body.
Failure to follow this instruction could result in board damages.
Caution
Execute the trial run without connecting the motor to the machine
system. Adjust the parameters of control card and motor drives, then
integrate the motor. After checking the setup operating correctly,
connect to the machine system again. Failure to follow this instruction
could result in injuries.
Danger

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2) Run setup program under root directory of installation CD. Then click
“Next”to continue the installation.
3) Select components to be installed.
Fig. 2-7 Welcome window
Fig. 2-8 Select components window

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4) Select the destination location of installation files. Default path:
C:\Program Files\MPC2810. Click Browse to choose a preferred
path.
5) Click Next to start the installation.
Fig. 2-9 Choose destination location window