PMD DK58420 User manual

Performance Motion Devices, Inc.
80 Central Street
Boxborough, MA 01719
Magellan
TM
Motion Processor
Developer’s Kit Manual
Revision 1.5, March 2013
Magellan Motion Processor

ii Magellan Motion Processor Developer’s Kit Manual
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 1998–2013 by Performance Motion Devices, Inc.
ATLAS, Magellan, ION, Magellan/ION, Pro-Motion, C-Motion, and VB-Motion are trademarks of Performance
Motion Devices, Inc.

Magellan Motion Processor Developer’s Kit Manual 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
understood 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
intellectual 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 Magellan Motion Processor Developer’s Kit Manual
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
alphabetically for quick reference.
Magellan Motion Processor Electrical Specifications
Booklets containing physical and electrical characteristics, timing diagrams, pinouts, and pin descriptions of
each series:
MC58000 Series, for DC brush, brushless DC, Microstepping, and Pulse & Direction motion processors
MC55000 Series, for Pulse & Direction motion processors
Atlas Digital Amplifier User’s Manual
Description of the Atlas Digital Amplifier electrical and mechanical specifications along with a summary of
its operational features.
Atlas Digital Amplifier Complete Technical Reference
Complete electrical and mechanical description of the Atlas Digital Amplifier with detailed theory of
operations.
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.
Other Documents
ION Digital Drive User’s Manual
How to install and configure ION Digital Drives.
Prodigy-PCI Motion Card User’s Guide
How to install and configure the Prodigy-PCI motion board.
Prodigy-PC/104 Motion Card User’s Guide
How to install and configure the Prodigy-PC/104 motion board.

Magellan Motion Processor Developer’s Kit Manual v
Table of Contents
1. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Components List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Installation Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.5 Required Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Preparing the Card for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.7 Connection Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.8 Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.9 Software Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.10 First Time System Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1 Card Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.2 Magellan Motion Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3 Card Specific Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.4 Signal Processing and Hardware Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3. Magellan Developer’s Kit Electrical Specifications . . . . . . . . . . . . . . 37
3.1 Magellan Configuration Switch Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.2 Magellan Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3 Outputs to Motor Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.5 Environmental and Electrical Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.6 PLX PCI Chip Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
A. Atlas Developer’s Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
A.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
A.2 Installation and Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
A.3 Atlas Carrier Card Reference Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
A.4 L-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
B. Reference Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

vi Magellan Motion Processor Developer’s Kit Manual
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Magellan Motion Processor Developer’s Kit Manual vii
List of Figures
1-1 Location of Various Board Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2-1 Magellan Motion Processor Developer’s Kit Internal Block Diagram . . . .25
3-1 Location of Various Board Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
3-2 JP16-18 in 2-3 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
3-3 JP16-18 in 1-2 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
3-4 Connector Locator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
3-5 Bottom view of 50-pin Header Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
A-1 Developer Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
A-2 Setting ATLAS SPI Bus Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
A-3 Chain of DK Carrier Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
A-4 Top Outline View of Horizontal and Vertical DK Card . . . . . . . . . . . . . . . . . . .57
A-5 J6 Address Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
A-6 Vertical Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
A-7 Horizontal Unit Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
A-8 Mounting Atlas to Vertical Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
B-1 Developer’s Kit overview schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
B-2 Magellan Motion Processor CP and DPRAM schematic . . . . . . . . . . . . . . . . .64
B-3 Developer’s Kit I/O schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
B-4 Developer’s Kit DAC amplifiers schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
B-5 Developer’s Kit connector and quadrature schematic . . . . . . . . . . . . . . . . . .67
B-6 Developer’s Kit PLD schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
B-7 Developer’s Kit transceivers schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
B-8 Developer’s Kit PLX9030 schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
B-9 Developer’s Kit PCI edge connector schematic . . . . . . . . . . . . . . . . . . . . . . . .71

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viii Magellan Motion Processor Developer’s Kit Manual

Magellan Motion Processer Developer’s Kit Manual 9
1
1.Installation
In This Chapter
Components List
Software
Documentation
Installation Sequence
Required Hardware
Preparing the Card for Installation
Connection Summary
Applying Power
Software Installation
First Time System Verification
The PMD Magellan Motion Processor Developer’s Kit is an integrated board/software package that serves as an
electrical and software design tool for building Magellan-based systems. The developer’s kit supports all members of the
Magellan family, as shown below:
All of the above Developer’s Kit versions share the same physical PC card as well as the same software CD. They differ
in the specific type of chip that is installed in the motion card. To build a complete control system the DK card is
combined with one or more motion axis amplifiers. For MC58000 developer’s kits (DK58420, DK58110), PMD’s Atlas
Digital Amplifiers are directly supported via a plug-in connector. Alternatively, connectors are provided to integrate
other off-the-shelf amplifiers, or user-built amplifier circuitry.
Because the installed chip for each Developer’s Kit version supports the maximum number of axes allowed, it can be
used to develop systems based on chipsets with fewer axes simply by disabling the unused axes. Alternatively, it is
possible to have the Developer’s Kit shipped with a different chipset from the same family version (with one, two, or
three axes). Contact your PMD representative for details.
1.1 Components List
The Magellan Motion Processor Developer’s Kit contains the following components:
• 4-axis PCI-bus Developer’s Kit card
Developer’s
Kit
Magellan Motion
Processors supported
Installed Motion
Processor Motors Support
DK58420 MC58420, MC58320,
MC58220, MC58120
MC58420 DC brush, brushless DC, pulse &
direction, microstepping
DK55420 MC55420, MC55320,
MC55220, MC55120
MC55420 Pulse & direction
DK58110 MC58110 MC58110 DC brush, brushless DC, pulse &
direction, microstepping
DK55110 MC55110 MC55110 Pulse & direction

Installation
10 Magellan Motion Processer Developer’s Kit Manual
1
• CD-ROM containing C-Motion, Pro-Motion, and documentation in PDF format
• 100-Pin Connector to dual 50-pin header converter cable (3' length)
• DB9 RS-232 cable
• Five rubber standoffs for use in standalone mode
Documentation:
Magellan Motion Processor Developer’s Kit Manual
Magellan Motion Processor User’s Guide
Magellan Motion Processor Programmer’s Command Reference
Magellan Motion Processor Electrical Specifications (either for MC58000 or MC55000, depending on Developer’s Kit
ordered)
Atlas Digital Amplifier User’s Manual (if DK ordered with one or more Atlas amplifiers)
If any of these components are missing, please contact your PMD representative.
1.2 Software
Two major software packages are provided with the Magellan Motion Processor Developer’s Kit cards: Pro-Motion,
an interactive Windows-based exerciser program and C-Motion, a C-language library which simplifies the
development of motion applications for Magellan Motion Processor Developer’s Kit cards.
Pro-Motion is a sophisticated, easy to use exerciser program that allows you to set and view all card parameters, and
exercise all card features. Pro-Motion features include:
• Motion oscilloscope graphically displays processor parameters in real-time
• Interactive servo tuning
• Atlas amplifier setup and configuration storage
• Project window for accessing card parameters
• Ability to save and load current settings
• Distance and time units conversion
• Motor-specific parameter setup
• Axis shuttle performs continuous back and forth motion between two positions
• Command window for direct text command entry
• Communications monitor that echoes all commands sent by Pro-Motion to the card.
C-Motion provides a convenient set of callable routines that comprise all of the code required for controlling your
Magellan Motion Processor Developer’s Kit card. C-Motion includes the following features:
•Axisvirtualization
• The ability to communicate to multiple Magellan Motion Processor Developer’s Kit cards
• Can be easily linked to any “C/C++” application

Installation
Magellan Motion Processer Developer’s Kit Manual 11
1
1.3 Documentation
There are four manuals specifically associated with the Magellan Developer's Kit cards. A brief description of each is
listed below.
If you will be using PMD’s Atlas amplifiers with your Magellan DK card then these additional manuals will be useful:
To download these documents, or request that they be sent to you, visit the PMD web site at www.pmdcorp.com or
contact your PMD representative.
1.4 Installation Sequence
For a normal installation of the Magellan Motion Processor Developer’s Kit card you will need to configure your card
for the PC system and motor hardware that you will connect it to.
There are two overall configurations, internally mounted and standalone. When installed internally to the PC your card
will utilize PCI bus connections for communication to the card. This option requires that your PC have at least one
available PCI bus port. This configuration has the advantage that communication rates to the PC are very high.
When installed in standalone mode, you will utilize a serial connection from the PC to connect to the DK card, and
you will provide separate power to the card. In this configuration the card is typically mounted horizontally on a bench
top or other flat surface. This configuration has a lower communication rate, but may provide more convenient access
to the card. In addition, this configuration is used when no PCI port is available on your PC.
Configuration of the Magellan Motion Processor Developer’s Kit cards is described in Section1.6, “Preparing the
Card for Installation”in detail.
Part Number Name Description
DK5X000UG Magellan Motion
Processor Developer's
Kit Manual
This is the first document you will turn to get started, make
connections, and exercise the card. This document will answer
questions such as “How do I connect my amplifiers and motors
to the card?” and “What jumper options do I set to use the
card?” This document also provides a complete electrical
description of the card, and a description of the associated soft-
ware products C-Motion and Pro-Motion.
MC5X000UG Magellan Motion Processor
User’s Guide
This is a functional description of the Magellan Motion Proces-
sor, which is the chipset that is at the heart of the Magellan
Motion Processor Developer’s Kit cards. This document will
answer questions such as, “How do I make a trapezoidal move?”
or “How do I load servo parameters?”
MC5X000PR Magellan Motion Processor
Programmer’s Command
Reference
This document provides a complete listing of all motion com-
mands supported by the Magellan Motion Processors.
MC58000ES
MC55000ES
Magellan Motion Processor
Electrical Specifications
This document provides electrical specifications for the Magel-
lan Motion Processors. It includes electrical timing diagrams,
mechanical packaging, pin lists, and other hardware-related
information.
Part Number Name Description
ATLAS-UM-0113 Atlas Digital Amplifier User’s
Manual
This manual provides a functional overview of PMD's Atlas
Digital Amplifiers, which are designed to work with Magellan
ICs. Atlases provide high performance amplification for DC
Brush, Brushless DC, and Step Motors.

Installation
12 Magellan Motion Processer Developer’s Kit Manual
1
Next you will need to connect your system’s motors, encoders, amplifiers, and sensors as desired to operate your
motion hardware. See Section1.7, “Connection Summary”for a description of the connections that are made for the
various Magellan Motion Processor Developer’s Kit cards.
Once this hardware configuration is complete, you should then install the software. See Section1.9, “Software
Installation”for a description of installation of the software.
The final step to finish the installation is to perform a functional test of the finished system. See Section1.10, “First
Time System Verification”for details.
Once all of the above has been accomplished installation is complete, and you are ready to operate the card.
1.5 Required Hardware
To install a Magellan Motion Processor Developer’s Kit card you will need the following hardware:
1The recommended platform is an Intel (or compatible) processor, Pentium or better, one available PCI
slot, 200MB of available disk space, 256MB of available RAM, and a CDROM drive. The PC operating
system required is Windows XP/Vista/Windows 7.
21 to 4 Atlas amplifiers, or other pulse and direction, PWM, or analog-input amplifiers. Amplifiers are
motor-type specific driving either DC Brush, Brushless DC, or step motors.
31 to 4 step motors or servo motors. These motors may or may not provide encoder position feedback.
Servo motors must have encoder feedback, while for step motors encoder feedback is optional.
4Additional connectors as required to connect the Magellan Motion Processor Developer’s Kit card to the
amplifiers and the motors. A single 100-pin header-type connector will be needed to interface to your
motion hardware such as encoders, limit switches, and other connections. If Atlas amplifiers are used the
Magellan DK supports direct connection to Atlas DK cards via a DB9 connector and cable.
1.6 Preparing the Card for Installation
To prepare your card for installation the following user-settable hardware option should be checked.
1.6.1 Resistor Packs
1.6.2 Motor Type Switch Settings
When using the DK55000 only pulse and direction motors are used, and it is not necessary to set jumpers related to
motor type. When using the DK58000 it is possible to support any combination of DC brush, brushless DC,
microstepping, and pulse & direction motors all on the same card and dip switches 5 and 6 must be set to indicate the
motor type that will be used. When configuring the dip switches and connecting your motors to the Developer’s Kit
Card, the following information may be helpful:
•Brushless DC means the card expects to connect to a brushless DC motor with an encoder, and possibly
with Hall sensors. With this connection, the Developer’s Kit card performs the commutation and outputs
Item How to Set Description
Resistor packs
RS1, RS2, RS3
Installed this is the default setting of resistor
packs RS1-RS3
If you are using differential connections leave these
resistor packs installed.
Removed If you are using single-ended encoder connections,
remove the resistor packs.

Installation
Magellan Motion Processer Developer’s Kit Manual 13
1
a multi-phase signal, 2 or 3 phases per axis, to the amplifier. For Atlas-connected systems only 2-phase
may be selected.
•Pulse and direction means the card expects to connect to a step motor which uses an Atlas step motor
amplifier or standard pulse and direction amplifier. Quadrature feedback is optional with this type of
motor.
• Microstepping means the Developer’s Kit card expects to connect to a step motor amplifier with multi-
phase signal command input, providing 2 or 3 phases per axis. Quadrature feedback is optional with this
type of motor.
•DC Brush means the cards expects to connect to a DC brush motor with an encoder, or an externally
commutated brushless DC motor (amplifier performs commutation). With this motor type the card
outputs one phase per axis.
1.6.2.1 Motor Type Jumper Settings (for DK58000 only)
When referring to the table below the switch up position is relative to the bottom of the board where the PCI
connector is located. The up position on the switch is marked on.
Item Switches Description
Dip
switch
S5
S5-1
S5-2
S5-3
Axis #1 Motor type setting
Set S5 1-3 dip switches according to the motor type you will be using on axis #1
5-1 5-2 5-3 Axis #1
up up up Brushless DC (3 phase)
down up up Brushless DC (2 phase)
up down up Microstepping (3 phase)
down down up Microstepping (2 phase)
up up down Pulse & direction
down down down DC brush (default setting)
Dip
switch
S5
S5-5
S5-6
S5-7
Axis #2 Motor type setting
Set S5 5-7 dip switches according to the motor type you will be using on axis #2
5-5 5-6 5-7 Motor type setting
up up up Brushless DC (3 phase)
down up up Brushless DC (2 phase)
up down up Microstepping (3 phase)
down down up Microstepping (2 phase)
up up down Pulse & direction
down down down DC brush (default setting)
Dip
switch
S6
S6-1
S6-2
S6-3
Axis #3 Motor type setting
Set S6 1-3 dip switches according to the motor type you will be using on axis #3
6-1 6-2 6-3 Motor type setting
up up up Brushless DC (3 phase)
down up up Brushless DC (2 phase)
up down up Microstepping (3 phase)
down down up Microstepping (2 phase)
up up down Pulse & direction
down down down DC brush (default setting)

Installation
14 Magellan Motion Processer Developer’s Kit Manual
1
Unconnected motors can be left at the default setting of DC Brush.
1.6.3 Atlas Amplifier Operation
If you are using Atlas amplifiers with your DK, jumpers JP16, JP17 and JP18 should be set as follows:
The following diagram shows the location of the resistor packs RS1, RS2, RS3 and the mode jumper, along with other
components such as connectors.
Figure 1-1:
Location of
Various Board
Elements
1.7 Connection Summary
The following sections summarize the connections you should make for various motor types. The connections are
broken into two overall groups, connections required when Atlas amplifiers are used, and connections when other
Dip
switch
S6
S6-5
S6-6
S6-7
Axis #4 Motor type setting
Set S6 5-7 dip switches according to the motor type you will be using on axis #4
6-5 6-6 6-7 Motor type setting
up up up Brushless DC (3 phase)
down up up Brushless DC (2 phase)
up down up Microstepping (3 phase)
down down up Microstepping (2 phase)
up up down Pulse & direction
down down down DC brush (default setting)
Item Configuration Description
JP16, JP17, JP18 jumpers installed at 2-3 for
all three jumpers
To operate the Magellan DK with Atlas amplifiers, or to operate
with Magellan rev. 3.0 or later, jumpers should be installed con-
necting the 2-3 pins for the JP16, JP17, and JP18 jumpers. See
Figure 1-1 for location of jumpers.
jumpers installed at 1-2 To operate the Magellan DK with Magellans below rev. 3.0,
jumpers should be installed connecting the 1-2 pins for the JP16,
JP17, and JP18 jumpers. See Figure 1-1.
Item Switches Description
J5 J12
J7 J2
J6
Magellan
CP
Magellan
IO
S1 S2 S5 S6 S3 S4
JS1
J13
J1
J4
JP1
·
·
·
JP5
J10
RS1
RS3
RS2
JP6
·
·
·
JP10
J9 JP14
Reset
S7
JP15
J14
JP16. . . JP18

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Magellan Motion Processer Developer’s Kit Manual 15
1
amplifiers are used. You may use Atlas amplifiers for certain axes and non-Atlas amplifiers for other axes. In addition,
you may use different motor types on each axes.
1.7.1 DC Brush Motor With Atlas Amplifier
The following table summarizes connections to the Magellan Developer’s Kit card when DC-brush motors are used
with an Atlas amplifier.
Atlas amplifier connections are made via J14, the Atlas DK bus connector. See Appendix A, “Atlas Developer’s Kit”
for detailed instructions on configuring Atlas amplifier connections.
All other connections are made through connector J4, the primary 100-pin connector indicated in the figure above.
See Chapter 3, “Magellan Developer’s Kit Electrical Specifications”for a detailed list of connections.
1.7.2 Brushless DC Motor With Atlas Amplifier
‘The following table summarizes connections to the Magellan Developer’s Kit card when Brushless DC motors are
used with an Atlas amplifier.
Atlas amplifier connections are made via J14, the Atlas DK bus connector. See Appendix A, “Atlas Developer’s Kit”
for detailed instructions on configuring Atlas amplifier connections.
All other connections are made through connector J4, the primary 100-pin connector. See Chapter 3, “Magellan
Developer’s Kit Electrical Specifications”for detailed signal descriptions.
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier signals: SPI Atlas bus
Other control signals:
(optional, per axis)
Home signal input
Limit switch inputs
AxisIn input
AxisOut output
Miscellaneous signals: Digital GND
+5 V (for encoder power)
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier signals: SPI Atlas bus
Hall inputs: Hall (phase A)
Hall (phase B)
Hall (phase C)
Other control signals:
(optional, per axis)
Home signal channel input
Positive limit switch input
Negative limit switch input
AxisIn input
AxisOut output
Miscellaneous signals: GND
+5 V (for encoder power)

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1.7.3 Step Motor With Atlas Amplifier
The following table summarizes connections to the Magellan Developer’s Kit card when two-phase step motors are
used with an Atlas amplifier.
Atlas amplifier connections are made via J14, the Atlas DK bus connector. See Appendix A, “Atlas Developer’s Kit”
for detailed instructions on configuring Atlas amplifier connections.
All other connections are made through connector J4, the primary 100-pin connector, indicated on Figure 1-1. See
Chapter 3, “Magellan Developer’s Kit Electrical Specifications”for detailed signal descriptions.
1.7.4 DC Brush Motor
The following table summarizes connections to the Magellan Developer’s Kit card when DC-brush motors are used
with a non-Atlas format amplifier.
All connections are made through connector J4, the primary 100-pin connector indicated in the figure above. See
Chapter 3, “Magellan Developer’s Kit Electrical Specifications”for a detailed list of connections.
1.7.5 Brushless DC Motors
The following table summarizes connections to the Magellan Motion Processor Developer’s Kit card when brushless
DC motors are used with a non-Atlas format amplifier. All of these connections are made through connector J4, the
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier signals: SPI Atlas bus
Other control signals:
(optional, per axis)
Home signal channel input
Positive limit switch input
Negative limit switch input
AxisIn input
AxisOut output
Miscellaneous signals: GND
+5 V (for encoder power)
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier output signals:
(per axis, if PWM sign, magnitude used)
PWM direction
PWM magnitude
Amplifier output signals:
(per axis, if PWM 50/50 used)
PWM magnitude
Amplifier output signals:
(per axis, if analog output used)
Analog out (DAC output)
Other control signals:
(optional, per axis)
Home signal input
Limit switch inputs
AxisIn input
AxisOut output
Miscellaneous signals: Digital GND
+5 V (for encoder power)

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primary 100-pin connector. See Chapter 3, “Magellan Developer’s Kit Electrical Specifications”for detailed signal
descriptions.
1.7.6 Pulse & Direction Motors
The following table summarizes connections to the Magellan Motion Processor Developer’s Kit card when pulse &
direction interface step motors are used. All connections are made through connector J4, the primary 100-pin
connector, indicated on figure 1-1, page 12. See Chapter 3, “Magellan Developer’s Kit Electrical Specifications”for
detailed signal descriptions.
1.7.7 Microstepping Motors
The following table summarizes connections to the Magellan Motion Processor Developer’s Kit card when multi-
phase microstepping-interface step motors are used with a non-Atlas format amplifier. All of these connections are
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier output signals:
(per axis, if PWM 50/50 used)
PWM magnitude (phase A)
PWM magnitude (phase B)
PWM magnitude (phase C)
Amplifier output signals:
(per axis, if analog output used)
Analog out (phase A)
Analog out (phase B)
Hall inputs: Hall (phase A)
Hall (phase B)
Hall (phase C)
Other control signals:
(optional, per axis)
Home signal channel input
Positive limit switch input
Negative limit switch input
AxisIn input
AxisOut output
Miscellaneous signals: GND
+5 V (for encoder power)
Signal Category Signal Description
Encoder input signals:
(optional, per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier output signals: Pulse
Direction
Other control signals:
(optional, per axis)
AtRest signal output
Home signal channel input
Positive limit switch input
Negative limit switch input
AxisIn input
AxisOut output
Miscellaneous signals: GND
+5 V (for encoder power)

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made through connector J4, the primary 100-pin connector. See Chapter 3, “Magellan Developer’s Kit Electrical
Specifications”for detailed signal descriptions.
1.7.8 Communication Connections
If the PCI bus is used, communication between the PC and the DK card occurs via the PCI bus and no additional
communication connections are needed.
If the card is operated in standalone mode, the included DB9 serial cable should be used to connect a serial port on
the PC to the card’s serial port connector. At the DK card the serial cable should connect to J13. See Figure 1-1 to
locate the J13 connector.
If your PC does not directly support a serial port you may be able to use a USB to serial converter device. Note that
PMD provides such a device (p/n Adapt-USB232-01.R). Contact your PMD representative for more information.
Whether connected directly into the PC or into a converted device, the provided DB9 connector presents a standard
RS-232 signal scheme, and should work without need for a null modem or other signal converter.
The DK card's default serial port baud rate is 57,600 bits per second. This rate should work with most PCs. To set the
baud rate to a different value use the S2 switch settings described in section 2.3.2 of this manual. If you still have
trouble communicating to the card using the serial port contact PMD for assistance.
1.7.9 Power Connections
1.7.9.1 Power For The DK Card
The final electrical installation step is to provide power to the DK card and to the amplifiers. If you are operating the
card from the PCI bus then the DK card receives power from the PC and the only additional required power
connection is to the amplifiers.
Signal Category Signal Description
Encoder input signals:
(per axis)
A quadrature channel input
B quadrature channel input
Index pulse channel input
Amplifier output signals:
(per axis, if PWM sign, magnitude used)
PWM magnitude (phase A)
PWM magnitude (phase B)
PWM direction (phase A)
PWM direction (phase B)
Amplifier output signals:
(per axis, if PWM 50/50 used)
PWM magnitude (phase A)
PWM magnitude (phase B)
Amplifier output signals:
(per axis, if analog output used)
Analog out (phase A)
Analog out (phase B)
Other control signals:
(optional, per axis)
Home signal channel input
Positive limit switch input
Negative limit switch input
AxisIn input
AxisOut output
Miscellaneous signals: GND
+5 V (for encoder power)

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If you are operating the DK card in standalone mode you must directly provide power to the card as shown in the
table below.
1.7.9.2 Power For The Amplifiers
Whether using Atlas amplifiers or another amplifier type you will need to apply power to the amplifiers. To do so,
carefully follow the instructions provided for your amplifier to safely connect power and make other necessary
connections such as ground or case/shield connections.
In the case of Atlas amplifiers the input voltage range is 12-56 volts. Consult the Atlas Digital Amplifier User’s Manual
for additional information.
1.8 Applying Power
Once you have installed the Magellan Motion Processor Developer’ s Kit card in your PC and made the necessary
power and signal connections to your external amplifiers, motors, motor encoders, and other signals required for your
application, hardware installation is complete and the board is ready for operation.
Most systems will first power the Magellan DK card. Upon power up, the card will be in a reset condition. In this
condition the motor output signals provided by the DK card will send a “zero command” signal to the amplifier.
Next, amplifier power is enabled. After power is applied the motors should remain stationary. If the motors move or
jump, power down the card and check the amplifier and other connections. If anomalous behavior is still observed,
call PMD for application assistance.
1.9 Software Installation
Included in your developer’s kit are two CDROMs marked “Pro-Motion” and “Magellan SDK.” These CDs contain
software to exercise your board and source code that will enable you to develop your own motion applications. The
exercise software is designed to work with Windows XP or Windows 7.
If you have autorun enabled, the installation process will start when you insert the Pro-Motion CDROM. The
installation program will guide you through installing the software. Upon completion of the installation process, the
following components will be installed:
1Pro-Motion – an application for communicating to and exercising the installed developer’s kit.
2C-Motion – source code that can be used for developing your own motion applications based on the
Magellan Motion Processor. These files are installed in the “My Documents\PMD\MagellanSDK\C-
Motion” folder.
3“PDF” versions of the developer’s kit manual, programmer’s reference and user’s guide. The Adobe
Acrobat Viewer is required for viewing these files. If the Adobe Acrobat Viewer is not installed on your
computer, you can download it from http://www.adobe.com.
4Reference schematics from the Electrical Specifications manuals. These files are installed in the
“Schematics” folder, a sub-folder of the installation folder.
Signal Connector Description
+5V J10 J10 is a two-signal (+5V, Gnd) jack-screw-style connector that
provides five volts to the DK card during standalone operation.
See Figure 1-1 for location of J10 connector. Use a 1.0 Amp
supply or greater to ensure adequate power.

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5Schematics for the Magellan Motion Processor DK board. These files are installed in the “Schematics”
folder, a sub-folder of the installation folder.
6Parts list for the board. The file “Magellan Motion Processor DK LOM.wri” is installed in the
“Schematics” folder, a sub-folder of the installation folder.
If the card is to be installed in a PCI slot the PCI drivers will need to be installed. These are found on either CDROM.
Execute the driver installation program depending on your Windows version:
• 64-bit Windows: PMDDrivers_x64.msi
• 32-bit Windows: PMDDrivers_x86.msi
1.10 First Time System Verification
The first time system verification procedure summarized below has two overall goals. The first is to connect the DK
card with the PC that is being used so that they are communicating properly, and the second is to initialize each axis
of the system and bring it under stable control capable of making trajectory moves. While there are many additional
capabilities that Pro-Motion and the DK card provide, these steps will create a foundation for further, successful
exploration and development.
Here is a summary of the steps that will be used during first time system verification. Each of these steps will be
described below in a separate section.
1Initiate Pro-Motion and establish communication between the PC and the card using the serial or PCI
bus communications link.
2Run Pro-Motion’s Axis wizard for each axis of your system to initialize parameters such as encoder
direction and safe servo parameters (if using a servo motor).
3Execute a simple trajectory profile on each axis demonstrating that it is operating correctly and under
stable control.
During this first time system setup you may find it useful to refer to other PMD manuals including the Pro-Motion User’s
Guide for complete information on the Pro-Motion application. You may also want to refer to the Magellan Motion
Processor User’s Guide to familiarize yourself with operation of the Magellan Motion Processor, which lies at the heart
of all PMD Motion cards.
1.10.1 Establishing Communications
To establish PCI bus or serial communications:
1Make sure the DK card is powered and connected to the PC.
2On the Start menu, click the Pro-Motion application.