Performance Motion Devices Prodigy Series User manual

Performance Motion Devices, Inc.
80 Central Street
Boxborough, MA 01719
Revision 1.2, December 2009
Prodigy
®
/CME PC/104
User’s Guide

ii Prodigy/CME PC/104 User’s Guide
NOTICE
This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is pro-
tected by federal copyright law. 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.
Copyright 1998–2009 by Performance Motion Devices, Inc.
Prodigy, Magellan, ION, Magellan/ION, Pro-Motion, C-Motion, and VB-Motion are registered trademarks of
Performance Motion Devices, Inc.

Prodigy/CME PC/104 User’s Guide iii
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.
Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any
product or service without notice, and advises customers to obtain the latest version of relevant information to verify,
before placing orders, that information being relied on is current and complete. All products are sold subject to the
terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty,
patent infringement, and limitation of liability.
Safety Notice
Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe
property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life
support devices or systems or other critical applications. Inclusion of PMD products in such applications is under-
stood to be fully at the customer's risk.
In order to minimize risks associated with the customer’s applications, adequate design and operating safeguards must
be provided by the customer to minimize inherent procedural hazards.
Disclaimer
PMD assumes no liability for applications assistance or customer product design. PMD does not warrant or represent
that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other in-
tellectual property right of PMD covering or relating to any combination, machine, or process in which such products
or services might be or are used. PMD’s publication of information regarding any third party’s products or services
does not constitute PMD’s approval, warranty or endorsement thereof.

iv Prodigy/CME PC/104 User’s Guide
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 alpha-
betically for quick reference.
Prodigy
®
/CME Programmer’s Reference
Descriptions of all Prodigy/CME product commands, with software architecture overview, command syn-
tax, and examples.
C-Motion
®
Engine Development Tools Manual
Description of the C-Motion Engine, development environment, and software tools.
Pro-Motion
®
User’s Guide
User’s guide to Pro-Motion, the easy-to-use motion system development tool and performance optimizer.
Pro-Motion is a sophisticated, easy-to-use program which allows all motion parameters to be set and/or
viewed, and allows all features to be exercised.

Prodigy/CME PC/104 User’s Guide v
Table of Contents
Chapter 1. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Prodigy Family Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Prodigy/CME PC/104 Card Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Accessory Products. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.5 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.6 Recommended Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7 Software Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.8 Preparing the Card for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.9 Connection Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.10 Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.11 First-Time System Verification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.12 Developing User Application Code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 2. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.1 Card Function Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2 Magellan Motion Processor Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.3 Magellan-Controlled Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.4 C-Motion Engine Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.5 Communications Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.6 General Card Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.7 Signal Processing and Hardware Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.8 Software Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Chapter 3. Accessing Card Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.1 Resource Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.2 Accessing the Communications Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.3 Accessing On-Card Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4 Accessing Magellan-Attached Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.5 PRP Communication Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Chapter 4. Electrical Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.1 User-Settable Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2 Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.3 Connections Summary—Motor Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.4 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.5 Environmental and Electrical Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
4.6 Mechanical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
4.7 User I/O Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Chapter 5. Interconnect Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.1 IM-1000 Interconnect Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.2 IM-600 Interconnect Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.3 DC-1000 SSI Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

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Prodigy/CME PC/104 User’s Guide vii
List of Figures
1-1 Prodigy/CME PC/104 Card Component Location, front view . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
1-2 Prodigy/CME PC/104 Card Component Location, back view . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
1-3 Switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
1-4 Serial Port Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
1-5 Serial and Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
1-6 Two Ways to Locate the Code on the Prodigy/CME PC/104 Card . . . . . . . . . . . . . . . . . . . . . . . . .29
2-1 Prodigy/CME PC/104 Card Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
2-2 On-card Dual-ported Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
2-3 Overview of C-Motion Engine Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
3-1 Outgoing and Returning PRP header formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
3-2 Example Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
3-3 Example Prodigy/CME PC/104 Architecture with Ethernet Device Testers . . . . . . . . . . . . . . . .62
3-4 Host Controller & On-card Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
3-5 Host Controller & Magellan-attached Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
3-6 PRP Message over Serial Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
4-1 Components and layout, front of card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
4-2 Prodigy/CME PC/104 Card Component Location, back view . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
4-3 Switch Settings by Output Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
4-4 Sync I/O connector to three cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
4-5 Prodigy/CME mechanical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
5-1 IM-1000 location of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
5-2 IM-600 location of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
5-3 DC-1000 location of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
5-4 DC-1000 mounted on Prodigy/CME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

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Prodigy/CME PC/104 User’s Guide 9
1
1.Installation
In This Chapter
Prodigy Family Overview
Prodigy/CME PC/104 Card Types
Software
Accessory Products
Installation Sequence
Recommended Hardware
Software Installation
Preparing the Card for Installation
Connection Summary
Applying Power
First-Time System Verification
Developing User Application Code
1.1 Prodigy Family Overview
The Prodigy
®
Family of Motion Control Cards provide high-performance control of DC brush, brushless DC,
microstepping, and step (pulse & direction) motors. They are available in three form factors; PCI bus, PC/104 bus, and
Stand-Alone, and allow multiple forms of communication including PCI bus, PC/104 bus, serial, CANbus, and
Ethernet. All Prodigy cards are based on PMD’s Magellan
®
Motion Processors, which perform high speed motion
control functions such as profile generation, servo loop closure, pulse & direction signal generation, and many other
real-time functions. Certain versions of Prodigy cards include a C-Motion
®
Engine (CME), which allows the user to
offload application code from the host onto the motion card.
The following product selector table summarizes the various members of the Prodigy motion card family and associated
Users Guide documentation.
Prodigy P/N Bus/Format C-Motion Engine User Guide
PR8258x20 PC/104 No Prodigy-PC/104 User’s Guide
PR8358x20 PC/104 Yes Prodigy/CME PC/104 User’s Guide
PR9258x20 PCI No Prodigy-PCI User’s Guide
PR9358x20 PCI Yes Prodigy/CME PCI User’s Guide
PR13x58x20 Stand-Alone Yes Prodigy/CME Stand-Alone User’s Guide

Installation
10 Prodigy/CME PC/104 User’s Guide
1
1.2 Prodigy/CME PC/104 Card Types
This manual provides a complete User’s Guide for the Prodigy/CME PC/104 cards. For documentation on other
members of the Prodigy Family please consult the appropriate documentation.
Prodigy/CME PC/104 cards come in four different configurations depending on the number of axes supported on
the card (from 1 to 4). The following table provides information on the specific card versions that are available. It
shows the relationship between card part numbers, Magellan Motion Processor part numbers contained on the card,
the number of axes supported, and the type of motors supported. In the motor type column, “all motor types” means
DC brush, brushless DC, microstepping, and step (pulse & direction) motors.
1.2.1 Supported Motor Types
The Prodigy/CME PC/104 cards support four different motor types; DC Brush, Brushless DC, step motors with a
microstepping output, and step motors with a pulse and direction output. Below is a summary of each of these four
motor types
DC Brush: output is a single-phase motor command, either in PWM (pulse width modulated), or analog (± 10V)
output format. The output is intended to control DC Brush motors, or brushless DC motors with an amplifier that
performs commutation.
Brushless DC: output is multi-phase motor command signals, either in PWM (pulse width modulated), or analog
(± 10V) output format, using Hall-based or sinusoidal commutation. The output is intended to interface with
brushless DC amplifiers and motors.
Microstepping: output is multi-phase analog (± 10V) or PWM (pulse width modulation) waveforms. The output is
intended to control 2- or 3-phase step motors using amplifiers which accept this command format.
Pulse & direction: output is standard pulse & direction signals intended to interface with amplifiers which accept
this command format.
For information on motor output formats and other information, see the Magellan Motion Processor User’s Guide.
1.3 Software
Four major software packages are provided with the Prodigy/CME PC/104 cards:
Pro-Motion
®
,an interactive Windows-based exerciser & software development tool
C-Motion
®
, a C-language library that allows you to create motion applications using the C programming language
C-Motion
®
Engine Development Tools, a set of development resources that allow you to create, download, and
monitor programs loaded in the Prodigy/CME PC/104 card’s C-Motion Engine
VB-Motion
®
, a set of Active-X objects that lets you create motion applications using the BASIC Programming
language
Here is more information on each of these software packages:
Prodigy/CME PC/104
Card P/N Magellan P/N
Number of
Axes Motor Type
PR8358120 MC58120 1 All motor types
PR8358220 MC58220 2 All motor types
PR8358320 MC58320 3 All motor types
PR8358420 MC58420 4 All motor types