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

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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