Performance Motion Devices ION N Series User manual

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

ii ION/CME N-Series Digital Drive Developer Kit User Manual
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.
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 1998–2021 by Performance Motion Devices, Inc.
Juno, Atlas, Magellan, ION, Prodigy, Pro-Motion, C-Motion and VB-Motion are trademarks of Performance Motion
Devices, Inc.

ION/CME N-Series Digital Drive Developer Kit User Manual iii
Warranty
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. product is provided “as is” and without warranty of any type, including without
limitation implied warranties of merchantability and fitness for any particular purpose.
Performance Motion Devices, Inc. reserves the right to modify its products, and to discontinue any product or service,
without notice and advises customers to obtain the latest version of relevant information (including without limitation
product specifications) before placing orders to verify the performance capabilities of the products being purchased. All
products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgment, including
those pertaining to warranty, patent infringement and limitation of liability.
Unauthorized Applications
Performance Motion Devices, Inc. products are not designed, approved or warranted for use in any application where
failure of the Performance Motion Devices, Inc. product could result in death, personal injury or significant property or
environmental damage (each, an “Unauthorized Application”). By way of example and not limitation, a life support
system, an aircraft control system and a motor vehicle control system would all be considered “Unauthorized
Applications” and use of a Performance Motion Devices, Inc. product in such a system would not be warranted or
approved by Performance Motion Devices, Inc.
By using any Performance Motion Devices, Inc. product in connection with an Unauthorized Application, the customer
agrees to defend, indemnify and hold harmless Performance Motion Devices, Inc., its officers, directors, employees and
agents, from and against any and all claims, losses, liabilities, damages, costs and expenses, including without limitation
reasonable attorneys’ fees, (collectively, “Damages”) arising out of or relating to such use, including without limitation
any Damages arising out of the failure of the Performance Motion Devices, Inc. product to conform to specifications.
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
Performance Motion Devices, Inc. assumes no liability for applications assistance or customer product design.
Performance Motion Devices, Inc. does not warrant or represent that any license, either express or implied, is granted
under any patent right, copyright, mask work right, or other intellectual property right of Performance Motion Devices,
Inc. covering or relating to any combination, machine, or process in which such products or services might be or are
used. Performance Motion Devices, Inc.’s publication of information regarding any third party’s products or services
does not constitute Performance Motion Devices, Inc.’s approval, warranty or endorsement thereof.
Patents
Performance Motion Devices, Inc. may have patents or pending patent applications, trademarks, copyrights, or other
intellectual property rights that relate to the presented subject matter. The furnishing of documents and other materials
and information does not provide any license, express or implied, by estoppel or otherwise, to any such patents,
trademarks, copyrights, or other intellectual property rights.
Patents and/or pending patent applications of Performance Motion Devices, Inc. are listed at
https://www.pmdcorp.com/company/patents.

iv ION/CME N-Series Digital Drive Developer Kit User Manual
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.
Magellan Motion Control IC Programming Reference
Descriptions of all Magellan Motion Control IC commands, with coding syntax and examples, listed
alphabetically for quick reference.
C-Motion Engine Development Tools Manual
Describes the C-Motion Engine Development Tools that allow user application code to be created and
compiled on a host PC, then downloaded, executed and monitored on a C-Motion Engine module.
C-Motion/PRP II Programming Reference
Describes C-Motion language function calls and associated PRP-formatted packets along with data types for
the ION/CME N-Series ION Digital Drives.

ION/CME N-Series Digital Drive Developer Kit User Manual v
Table of Contents
1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 ION/CME N-Series Digital Drive Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Developer Kit Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Developer Kit Part Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Developer Kit Components List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.5 Getting Started & Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Recommended Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.7 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.8 DK Interconnect Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.9 Connecting the Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.10 Enabling the N-Series ION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.11 Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.12 First-Time System Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.13 Saving Your Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.14 Exploring Further . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2. Connecting via Host Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.1 Activating CAN Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2 Activating Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3 Activating Ethernet Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.4 Activating SPI Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.5 C-Motion Engine User Code Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3. Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.1 N-Series ION Unit Part Numbers and Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.2 Developer Kit Hardware Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.3 Selected Cable & Accessory Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.4 Conversion Factors, Defaults and Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.5 Component Developer Kit Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.6 Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.7 Mechanical Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4. DK Interconnect Board Schematics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.1 DK Interconnect Board Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

vi ION/CME N-Series Digital Drive Developer Kit User Manual

ION/CME N-Series Digital Drive Developer Kit User Manual vii
List of Figures
1-1 N-Series ION Digital Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-2 N-Series ION Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1-3 N-Series ION DK Showing Component Stack Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-4 Serial Host Interface DK Interconnect Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1-5 CAN/SPI Host Interface DK Interconnect Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1-6 Ethernet Host Interface DK Interconnect Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1-7 Brushless DC Motor Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1-8 DC Brush Motor Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1-9 Step Motor Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1-10 PC to N-Series ION DK Board Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2-1 Hardware Setup for Communicating via CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2-2 Hardware Setup for Communications via RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2-3 Hardware Setup for Communications via RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2-4 RS485 Signal Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2-5 PC to N-Series ION DK SPI Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2-6 Typical Connection Links During C-Motion Engine Code Development . . . . . . . . . . . . . . . . . . . . . . . 41
3-1 N-Series ION DK Showing Component Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3-2 Mounting Thermal Pad to N-Series ION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3-3 ION/CME N-Series Digital Drive Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3-4 DK Base Plate Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3-5 DK Interconnect Board Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3-6 Mechanical Elements of N-Series ION Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3-7 N-Series ION Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3-8 Recommended N-Series ION Thermal Transfer Material Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4-1 Serial Host Interface DK Interconnect Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4-2 CAN/SPI Host Interface DK Interconnect Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4-3 Ethernet Host Interface DK Interconnect Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

viii ION/CME N-Series Digital Drive Developer Kit User Manual

ION/CME N-Series Digital Drive Developer Kit User Manual 9999
1
1.Introduction
In This Chapter
ION/CME N-Series Digital Drive Overview
Part Numbers and Configurations
Developer Kits
1.1 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.
ION/CME N-Series Digital Drives are single-axis motion controllers with integrated power electronics and network
communications. Various models are available to drive DC Brush, Brushless DC, and step motors. Their very compact
size, range of power output levels, and high level of connectivity make them an ideal solution for embedded or
distributed motion control applications that require high performance in a small envelope.
ION N-Series Drives are based on PMD’s Magellan Motion Control IC and perform profile generation, encoder
position feedback, position servo compensation, step motor stall detection, brushless DC motor commutation,
microstep generation, digital current/torque control, and more. All members of the ION family have integrated, high-
power drive stages which protect from overcurrent, undervoltage, overvoltage, overtemperature, and short-circuit faults.
N-Series ION host communication options include Ethernet, CAN, RS232/RS485, and SPI (Serial Peripheral
Interface). Each drive also supports an additional CAN and SPI expansion network for connecting to other N-Series
ION or to other peripherals. All ION/CME N-Series Drives include a C-Motion Engine, allowing user application code
to be downloaded and executed directly in the drive, along with NVRAM memory and trace memory for permanent
and temporary storage of control parameters and performance trace results.
The N-Series IONs are PCB (printed circuit board) mounted and are packaged in a plastic and metal solderable module
measuring 1.48" x 1.48" x 0.66" (37.6 mm x 37.6 mm x 16.8 mm). They come in three power levels; 75 watts, 350 watts,

10 ION/CME N-Series Digital Drive Developer Kit User Manual
1
Figure 1-2:
N-Series ION
Development
Kit
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). Note that multi-motor units allow the motor type, either Brushless DC, DC Brush,
or step motor, to be user programmed.
1.2 Developer Kit Overview
The ION/CME N-Series Digital Drive Developer Kits are integrated board/software packages thatserve as a
mechanical, electrical, and software design tool for prototyping and building systems with N-Series ION Drives.
The core of each developer kit is an interconnect board that provides convenient connections to your PC, the motor
hardware, and other peripherals that will be used inyour application.
As shown in Figure 1-2 the N-Series ION is mounted in between a metallic heat sink base (which also serves the
purpose of providing a footing for bench-top use) and the DK interconnect board which provides the connectors.
Alternatively you can remove the metallic heat sink base and mount the N-Series ION with attached DK interconnect
board directly onyour machine hardware. For exact dimensions of the N-Series ION refer to Section 3.6, “Physical
Dimensions.”
1.3 Developer Kit Part Numbers
1.3.1 Pre-Assembled Developer Kits
The following N-Series Drive Developer Kits are fully assembled and installed with a multi-motor ION unit type.
These various P/Ns represent three different host interface types (serial, CAN/SPI, Ethernet) and three different
power levels (low, medum, high):
DK P/N ION P/N Installed Host Interface Power Level
DK481S0056/02 DD481S0056/02 Serial Low
DK481S0056/06 DD481S0056/06 Serial Medium
DK481S0056/18 DD481S0056/18 Serial High
Introduction

ION/CME N-Series Digital Drive Developer Kit User Manual 11
1
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.
To facilitate this three non pre-assembled component developer kits are available as shown in the table below:
Each of these component-only DKs contain a DK interconnect PCB, a metallic base plate, and various mounting
hardware such as screws and a thermal pad to allow the user to assemble a complete DK setup. Note that these DKs
P/Ns do not include the N-Series ION unit itself. The N-Series ION must be ordered separately.
For instructions on how to assemble a developer kit setup from a component-only DK refer to Section3.5,
“Component Developer Kit Assembly.”
1.4 Developer Kit Components List
The ION/CME N-Series Digital Drive Developer Kits contain the following components:
• Developer Kit interconnect board with N-Series Drive soldered in place
DK481C0056/02 DD481C0056/02 CAN/SPI Low
DK481C0056/06 DD481C0056/06 CAN/SPI Medium
DK481C0056/18 DD481C0056/18 CAN/SPI High
DK481D0056/02 DD481D0056/02 Ethernet Low
DK481D0056/06 DD481D0056/06 Ethernet Medium
DK481D0056/18 DD481D0056/18 Ethernet High
P/N Host Interface Comments
DK4X1S Serial Supports all serial host interface N-Series ION units
DK4X1C CAN/SPI Supports all CAN/SPI host interface N-Series ION units
DK4X1D Ethernet Supports all Ethernet host interface N-Series ION units
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12 ION/CME N-Series Digital Drive Developer Kit User Manual
1
• 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:
• Pro-Motion Windows-based exercisor
• C-Motion Engine Software Developer Kit:
• A complete toolset for the creation of user-specific applications running on ION/CME or host
• An open-source compiler
• C-Motion libraries
• PDFs of all N-Series ION documentation
• Gerber files for the DK Interconnect boards
For a detailed list of components for each N-Series ION DK type refer to Section 3.2, “Developer Kit Hardware
Contents.”
1.5 Getting Started & Installation
Overview
1Before using the N-Series ION Drive the software must be installed. See Section1.7, “Software
Installation,” for instructions on installing the software.
2Next, connect your system’s motor, power, encoder, and sensors to operate the motion hardware. See
Section1.9.1, “Connection Summary,” for a description of the available connections and options for the
N-Series ION DK interconnect boards.
3Connect the N-Series Drive to the host PC via the 3-pin programming cable. See Section1.9.5,
“Programming Connector (J9),” for a description of this procedure.
4Once this hardware configuration is complete, the final step to finish the installation is to perform a
functional test of the finished system. See Section1.12, “First-Time System Verification,” for a
description of this procedure.
Once these steps have been accomplished, the installation is complete, and the DK setup is ready for operation.
1.6 Recommended Hardware
To install an N-Series ION developer kit the following hardware is recommended.
• PC with Intel (or compatible) processor, 1 Gbyte of available disk space and 256 MB of available RAM.
The supported PC operating systems are Windows XP, Vista, Windows 7, Windows 8, Windows 10.
• One step, DC Brush, or Brushless DC motor.
This motor may or may not provide encoder position feedback signals, depending on the type of motor
being used. Encoder feedback is normally used with DC Brush motors and with Brushless DC motors
(although not required because Hall sensors can be used for the position feedback). For step motors,
encoders are an option.

ION/CME N-Series Digital Drive Developer Kit User Manual 13
1
• 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.
1.7 Software Installation
The software distribution for the developer kit is downloaded from the PMD website at the URL: https://
www.pmdcorp.com/resources/software.
All software applications are designed to work with Microsoft Windows.
To install the software:
1Go to the Software Downloads section of PMD’s website located at https://www.pmdcorp.com/
resources/software and select download for “Developer Kit Software”
2After selecting download you will be prompted to register your DK, providing the serial # for the DK
and other information about you and your motion application.
3After selecting submit the next screen will provide a link to the software download. The software
download is a zip file containing various installation programs. Select this link and downloading will
begin.
4Once the download is complete extract the zip file and execute or extract the desired install programs
from the list below. Every first-time installation should install Pro-Motion, and at least one of the three
SDK options. For N-Series ION users this will normally be the C-Motion PRP II SDK option. However
you may install two or more SDKs if desired.
•Pro-Motion – an application for communicating to, and exercising PMD ICs, modules, or boards.
•C-Motion SDK – an SDK (Software Developer’s Kit) for creating motion applications using the C/
C++ programming language for all PMD products that utilize a direct Magellan or Juno formatted
packet interface. Contains PDF versions* of all PMD documentation.
•C-Motion/PRP SDK – an SDK (Software Developer’s Kit) for creating PC and downloadable user
code for all PMD products other than ION/CME N-Series Digital Drive products that utilize the
PRP (PMD Resource Access Protocol) formatted packet interface. Also supports creating motion
applications using the .NET (C#, VB) programming languages for all products. Contains PDF
versions* of all PMD documentation.
•C-Motion/PRP II SDK – an SDK (Software Developer’s Kit) for creating PC and downloadable
user code for ION/CME N-Series Digital Drive products. Also supports creating motion
applications using the .NET (C#, VB) programming languages for all products. Contains PDF
versions* of all PMD documentation.
*Adobe Acrobat Reader is required for viewing these files. If the Adobe Acrobat Reader is not installed on your
computer, it may be freely downloaded from http://www.adobe.com.
Here is more information on the available software resources.
1.7.1 Pro-Motion
Pro-Motion is a sophisticated, easy-to-use exerciser program which allows all ION unit parameters to be set and/or
viewed, and allows all features to be exercised. Pro-Motion features include:

14 ION/CME N-Series Digital Drive Developer Kit User Manual
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• 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
• Distance, time, and electrical units conversion
• Frequency sweep and bode plot analysis tools
• Motor-specific parameter setup
• Axis shuttle performs continuous back and forth motion between two positions
• C-Motion Engine monitor debug window
• C-Motion Engine user application code download
1.7.2 C-Motion
C-Motion provides a convenient set of callable routines comprising the C language code required for controlling N-
Series IONs, whether running on a separate host computer such as a PC, an embedded microcontroller, or running
inside the ION Board on the C-Motion Engine. C-Motion includes the following features:
• Magellan axis virtualization
• Ability to communicate to multiple PMD motion cards or modules
• Ability to communicate via PC/104 bus, serial, CAN, Ethernet, SPI (Serial Peripheral Interface), or 8/16
bit parallel bus
• Provided as source code, allowing easy compilation & porting onto various run-time environments
including a PC, microprocessor, embedded card, or C-Motion Engine
• Can be easily linked to any C/C++ application
Three different version of C-Motion SDKs are available; the regular C-Motion SDK is used with PMD products such
as Juno ICs, Magellan ICs, and non-CME version ION 500 & 3000 Digital Drives and non-CME version Prodigy
Motion Boards. The C-Motion/PRP SDK is used with /CME version products such as ION/CME 500 and Prodigy/
CME motion boards. Finally the C-Motion/PRP II SDK is used with ION/CME N-Series Digital Drives.
C-Motion SDK libraries used with Magellan IC products are documented in the Magellan Motion Control IC Programming
Reference. C-Motion SDK libraries used with Juno IC products are documented in the Juno Velocity & Torque Control IC
Programming Reference. C-Motion/PRP SDK libraries are documented in the C-Motion/PRP Programming Reference. C-
Motion/PRP II SDK libraries are documented in the C-Motion/PRP II Programming Reference.
1.7.3 .NET Language Support
A complete set of methods and properties is provided for developing applications in Visual Basic and C# using a
dynamically loaded library (DLL) containing PMD library software. The DLL may also be used from any language
capable of calling C language DLL procedures, such as Labview, but no special software support is provided.
Includes the following features:
• Magellan axis virtualization
• Ability to communicate to multiple PMD motion cards or modules

ION/CME N-Series Digital Drive Developer Kit User Manual 15
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• 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
1.8 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; serial, CAN/SPI, or Ethernet.
Figure 1-4:
Serial Host
Interface DK
Interconnect
Board
Figure 1-5:
CAN/SPI Host
Interface DK
Interconnect
Board
J9
J11-1
J11-2
J1 J2
J7
J6
J5J4J3
C1
C2
U1B
U1A
J12
J15
J9
J11-1
J11-2
J10-1
J10-2
J1 J2
J8
J7
J6
J5J4J3
C1
C2
U1B
U1A

16 ION/CME N-Series Digital Drive Developer Kit User Manual
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Figure 1-6:
Ethernet Host
Interface DK
Interconnect
Board
The following table identifies these components:
1.9 Connecting the Board
Before operating the developer kit the interconnect board must be connected to your PC, the motor hardware, and
any other motor/machine peripherals to be used with the N-Series ION in your application. For the first time
installation a relatively minimal set of connections are needed which are summarized in Section 1.9.1, “Connection
Summary.” In subsequent sections detailed pinouts for all of the DK board connectors and associated signals are
provided.
1.9.1 Connection Summary
Figures 1-7 through 1-9 provides general connection overviews for Brushless DC, DC Brush, and step motors. These
diagrams do not show all possible connections or operational modes, but show a typical minimal set of connections
that may be used with this first-time installation of the N-Series ION.
Label Description
J1 HV Power Connector
J2 Motor Drive Connector
J3 Feedback Connector
J4 Hall Signals Connector
J5 Auxiliary Connector
J6 Motion Signals Connector
J7 Indexer Connector
J8 Host SPI Connector (CAN/SPI DK version only)
J9 Programming Connector
J10 Host CAN Connector (CAN/SPI DK version only)
J11 Expansion CAN Connector
J12 Host Serial Connector (Serial DK version only)
J13 Host Ethernet Connector (Ethernet DK version only)
J15 Host Serial Header Connector (Serial DK version only)
U1A N-Series ION Signal Connector pins
U1B N-Series ION Power Connector pins
C1, C2 HV Capacitors
J9
J11-1
J11-2
J1 J2
J7
J6
J5J4J3
C1
C2
U1B
U1A
J13

ION/CME N-Series Digital Drive Developer Kit User Manual 17
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Figure 1-7:
Brushless DC
Motor
Connection
Overview
Figure 1-8:
DC Brush
Motor
Connection
Overview
Figure 1-9:
Step Motor
Connection
Overview
HV
Enable
Hall A, B, C
Brushless
DC Motor
QuadA, B, Index
N-Series ION
DK Interconnect
Board
(J6)
Motion Signals
Connector
(J1)
HV Power
Connector
GND (J2)
Motor Drive
Connector
Motor A
Motor B
Motor C
(J9)
Programming
Connector
(J3) Feedback
Connector
(J4) Hall Sensors
Connector
Limits
Brake
(J6)
Motion Signals
Connector
Home
Motor A
Motor B
HV
Enable
QuadA, B, Index
N-Series ION
DK Interconnect
Board
(J6)
Motion Signals
Connector
(J1)
HV Power
Connector
GND
(J2)
Motor Drive
Connector
(J9)
Programming
Connector
(J3) Feedback
Connector
Limits
Brake
(J6)
Motion Signals
Connector
Home
DC Brush
Motor
Motor A
Motor B
Motor C
Motor D
HV
Enable
(optional)
QuadA, B, Index
N-Series ION
DK Interconnect
Board
(J6)
Motion Signals
Connector
(J1)
HV Power
Connector
GND (J2)
Motor Drive
Connector
(J9)
Programming
Connector
(J3) Feedback
Connector
Limits
Brake
(J6)
Motion Signals
Connector
Home
2-Phase
Step Motor

18 ION/CME N-Series Digital Drive Developer Kit User Manual
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The connections highlighted in the figures above are provided below in table form.
The following sections provide detailed information on all of the connectors on the N-Series DK Interconnect boards.
1.9.2 Feedback Connector (J3)
The following table details the Feedback Connector (J3), which is an 8-pin jackscrew style connector.
Signal Pin # Comments
Feedback Connector (J3)
+5V 1 +5V and GND may be used to power the encoder
GND 2
QuadA1+, QuadA1- 3, 4 Encoder optional for step motors. If single-ended encoders used connect to +
(positive) only
QuadB1+, QuadB1- 5, 6
Index+, Index- 7, 8 Most encoders provide an Index pulse, which is useful for homing or for
detecting lost encoder counts
Motion Signals Connector (J6)
PosLim, NegLim 1, 2 Optional but frequently used signals to detect travelling beyond motion range
of machine.
Home 3 Optional but frequently used signal to home the motor axis after startup
Enable 4 Enable signal must be driven low for N-Series ION to function. This is most
easily accomplished by jumpering to pin 8 (GND) of this connector
Brake 7 Optional but frequently used safety signal to shut down motor operation
GND 8 Ground
Hall Signals Connector (J4)
HallA, HallB, HallC 1, 2, 3 Used with Brushless DC motors only
GND 4 Ground return for Hall sensors
Programming Connector (J9)
Srl3Xmt, Srl3Rcv 1, 2 These pins provide a serial connection that will be used for first time opera-
tion of the DK board. The USB to 3-pin programming cable included with the
developer kit connects to this port.
GND 3
HV Power Connector (J1)
HV Aux, HV 1, 2 HV Aux and HV are usually tied together. They provide power for the inter-
nal unit logic after conversion by internal DC to DC and drive the motor
coils. Must be in the range of 12 - 56V
GND 3 Power Ground Return
Motor Drive Connector (J2)
Motor A-D 1, 2, 3, 4 Drive connections to motor.
Motor A & B are used with DC Brush motors
Motor A, B, C are used with Brushless DC motors
Motor A & B drive phase A of step motors
Motor C & D drive phase B of step motors
Case/shield 5 A case/shield connection is strongly recommended for most motor setups.
Pin # Signal Name Description
1 +5V +5V power output which may be used to power the motor’s encoder circuitry
2 GND This is the preferred ground connection for the quadrature and Index signal inputs
3 QuadA1+ Differential A+ quadrature input. optional for step motor
4 QuadA1- Differential A- quadrature input. optional for step motor
5 QuadB1+ Differential B+ quadrature input. optional for step motor
6 QuadB1- Differential B- quadrature input. optional for step motor

ION/CME N-Series Digital Drive Developer Kit User Manual 19
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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. If single-ended encoders are used, connect encoder signals to the positive encoder input only. The
negative input may remain unconnected.
1.9.3 Motion Signals Connector (J6)
The following table details the Motion Signals Connector (J6). This connector is an 8-pin jackscrew style connector.
1.9.3.1 Enabling the Board
N-Series IONs require an active Enable signal to operate. To accomplish this the Motion Signals Connector (J6) is
used. Connect terminal #4 of J6 (indicated on the board as En) to terminal #8 of the same jackscrew connector
(indicated on the board as GND) using a short wire.
1.9.4 Hall Signals Connector (J4)
The following table details the Hall Signals Connector (J4). Hall signals are used with Brushless DC motors. This
connector is a 6-pin jackscrew style connector.
7 Index+ Differential Index+ input. optional for step motor
8 Index Differential Index- input. optional for step motor
Pin # Signal Name Description
1 PosLim Positive position limit input (optional)
2 Neglim Negative position limit input (optional)
3 Home Home signal input (optional)
4 Enable Enable input signal
5 FaultOut FaultOut signal output
6 Reset Reset signal input (optional)
7 Brake Brake signal input (optional)
8 GND Digital ground
Pin # Signal Name Description
1 HallA Hall Sensor A Input
2 HallB Hall Sensor B Input
3 HallC Hall Sensor C Input
4 GND Digital ground
5 AnalogIn+ Positive differential signal of the general purpose analog input
6 AnalogIn- Negative differential signal of the general purpose analog input
Pin # Signal Name Description

20 ION/CME N-Series Digital Drive Developer Kit User Manual
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1.9.5 Programming Connector (J9)
Figure 1-10:
PC to N-Series
ION DK Board
Connection
In this first-time installation we will use the N-Series ION’s 3-pin serial programming interface for communicating to
the PC. For this purpose, a 3-pin programming cable is included with the developer kit. This serial cable (PMD p/n
Cable-USB-3P) should be connected to the board’s J9 Programming Connector, while the opposite end of the cable
should be connected to one of your computer’s USB ports. Take special care when connecting to the 3-pin connector
on the board that pin #1 on the cable (marked with a dot on the cable) aligns with pin #1 on the connector (marked
by a square pad shape).
The following table details the Programming Connector (J9). This connector is a 3-pin 2 mm header.
1.9.6 Power Connector (J1)
The following table details the Power Connector (J1).
The Power Connector is a Würth Elektronik 3 Position Terminal Block Header P/N 691313710003.
The HV Aux and HV pins are normally tied together but may be kept separate.
Pin # Signal Name Description
1 Srl3Xmt Serial programming port transmit signal
2 Srl3Rcv Serial programming port receive signal
3 GND Ground
When operating the developer kit in high EMI environments, or when operating the motor at very high motor
current levels, shielding on the 3-pin programming cable may be required to insure reliable communication be-
tween the PC and the ION unit. Contact your PMD representative for additional information and support.
Pin # Signal Name Description
1 HV Aux Positive motor voltage power used to drive N-Series
ION’s internal logic
2 HV Positive motor voltage power used to drive the motor
3 GND Motor voltage power ground
USB
Port
J9
Host PC
DK
Board
1
1
Cable
J9
USB to 3-pin
Programming Cable
(P/N Cable-USB-3P)