PMD MC73110 User manual

MC73110
Advanced 3-Phase Motor Control IC
Developer’s Kit Manual
Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Revision 1.1, October 2003

MC73110 Developer’s Kit
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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 duplicated in any form, in whole or in part, without the express
written permission of Performance Motion Devices, Inc.
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 Performance Motion Devices, Inc.
Copyright 1998, 1999, 2000, 2001, 2002, 2003 by Performance Motion Devices, Inc.
Navigator®, Pro-Motion®and C-Motion®are registered trademarks of Performance Motion Devices, Inc.

MC73110 Developer’s Kit iii
Warranty
Performance Motion Devices, Inc. (PMD) warrants performance of its products to the specifications
applicable at the time of sale in accordance with Performance Motion Devices, Inc.’s standard warranty.
Testing and other quality control techniques are utilized to the extent Performance Motion Devices,
Inc. 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. 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 Performance Motion Devices, Inc. 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
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 publica-
tion of information regarding any third party’s products or services does not constitute Performance
Motion Devices, Inc.’s approval, warranty or endorsement thereof.

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Related Documents
MC73110 Advanced 3-Phase Motor Control IC Product Manual (MC73110PM)
Electrical Specifications, Theory of Operations, and Command Reference for MC73110 IC.

MC73110 Developer’s Kit v
Table of Contents
1.0 Product Overview .............................................................................. 7
2.0 Installation ......................................................................................... 9
2.1 Software ........................................................................................................................................................ 11
2.2 Documentation .......................................................................................................................................... 11
2.3 Connection Configurations ....................................................................................................................... 12
2.4 Installation Sequence .................................................................................................................................. 13
2.5 Required Hardware ..................................................................................................................................... 13
2.6 Preparing the Card for Installation............................................................................................................ 14
2.7 Connecting to the Card .............................................................................................................................. 15
2.7.1 Initial Setup .............................................................................................................................. 15
2.7.2 Power Connector (J1) .............................................................................................................. 16
2.7.3 Motor Feedback Connector (J2) ............................................................................................. 16
2.7.4 Motor Connector (J4) ............................................................................................................. 17
2.7.5 Host Connector (J6) ................................................................................................................ 17
2.7.6 Serial Port Connector (J7) ....................................................................................................... 18
2.8 Applying Power.......................................................................................................................................... 18
2.8.1 Card Reset ................................................................................................................................. 18
2.8.2 LED Status Indicators ............................................................................................................ 18
2.9 Software Installation ................................................................................................................................... 19
2.10 First Time System Verification ................................................................................................................. 19
3.0 Using Pro-Motion ............................................................................ 21
3.1 Communication .......................................................................................................................................... 22
3.1.1 Axis Setup Wizard ................................................................................................................... 23
3.1.1 Step #1: Signal Output Settings ............................................................................................ 24
3.1.2 Step #2: Initialize Signal Sensing ........................................................................................... 24
3.1.3 Step #3: Safety Settings ........................................................................................................... 25
3.1.4 Step #4: Commutation .......................................................................................................... 25
3.1.4.1 Step #4a: Check Commutation .......................................................................................... 26
3.1.5 Step #5: Velocity Integrator Loop Parameters ..................................................................... 26
3.1.6 Step #6: Velocity Loop Parameters ........................................................................................ 26
3.2.6 Step #7: Current Loop Parameters ........................................................................................ 27
3.2.7 Step #8: Miscellaneous Settings ............................................................................................. 27
3.2 Main Window ............................................................................................................................................. 28
3.2.1 Project Window ....................................................................................................................... 28
3.2.2 Command Window ................................................................................................................ 29
4.0 Developing Your Own Applications with C-Motion ......................... 31
4.1 Theory of Use ............................................................................................................................................. 32
5.0 MC73110 Electrical Reference......................................................... 33
5.1 User-Settable Jumper Options .................................................................................................................. 33
5.2 Connecting to the Card .............................................................................................................................. 34
5.2.1 Power Connector (J1) .............................................................................................................. 35
5.2.2 Motor Feedback Connector (J2) ............................................................................................. 36
5.2.3 RS485 Connector (J3) .............................................................................................................. 37
5.2.4 Motor Connector (J4) ............................................................................................................. 37
5.2.5 Remote Switcher Connector (J5) ............................................................................................38
5.2.6 Host Connector (J6) ................................................................................................................ 39
5.2.7 Serial Port Connector (J7) ....................................................................................................... 39

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MC73110 Developer’s Kit Manual 7
1.0 Product Overview 1
MC73110 Navigator/Pilot Magellan Motion Cards
Motor Control
IC
Number of axes 1 1, 2, 4 1, 2, 3, 4 1, 2, 3, 4
Package 64-pin TQFP 132-pin PQFP 144-pin TQFP PCI
100-pin PQFP 100-pin TQFP PC/104
Voltage 3.3V 5V 3.3V 3V
Function Velocity control Position control Position control Position control
Torque control Encoder input Encoder input Encoder input
Commutation Profile generation Profile generation Profile generation
Encoder input Commutation Commutation Commutation
Network Signal conditioning
communications Analog output
Multi-motor Trace buffer
Motor types Brushless DC DC servo DC servo DC servo
Brushless DC Brushless DC Brushless DC
Microstepping Microstepping Microstepping
Pulse & direction Pulse & direction Pulse & direction
Communication Standalone Parallel Parallel PCI, PC104
Serial Serial point-to-point Serial point-to-point
Serial multi-drop Serial multi-drop
CANbus
Loop rate 20 kHz 100 -150 Sec/axis 50 -75 Sec/axis 50 -75 Sec/axis
The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent 3-phase brushless
motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of
feedback signals. It can be operated in voltage, torque, or velocity modes and supports standalone operation for
use with PMD’s motion processors, other off-the-shelf servo controllers, or via a serial port.
Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for brushed
servo, brushless servo, microstepping, and pulse and direction step motors. They are available in 1, 2 and 4-axis,
and in both single-chip and two-IC chipset configurations. These parts operate at 5V.
Magellan-family Motion Processors are state-of-the-art programmable chip-based positioning controllers for
brushed servo, brushless servo, microstepping, and pulse and direction step motors. They are similar to the
Navigator Motion Processors but provide increased capabilities including faster loop rate, CANBus communica-
tions, software-selectable motor type, and direct SPI bus output for serial DACs. They are available in 1, 2, 3, and
4-axis, and in both single-chip and two-IC chipset configurations. These parts operate at 3.3V.
PMD’s PCI and PC/104-bus motion cards are high performance general purpose motion cards for controlling
DC-brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD’s Magellan Motion
Processors, these products are available in 1, 2, 3, and 4 axis configurations and have advanced features such as 16-
bit D/A analog output, and on-board high speed performance tracing.

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PMD Product Overview
1

MC73110 Developer’s Kit Manual 9
2.0 Installation 2
In This Section
Software
Documentation
Connection Configurations
Installation Sequence
Required Hardware
Preparing the Card for Installation
Connecting to the Card
Applying Power
Software Installation
First Time System Verification
The PMD MC73110 Developer’s Kit is an integrated board/software package that serves as an electrical and
software design tool for MC73110-based systems. The major components of the kit are:
Standalone MC73110-based card with 10 amp 3-phase brushless motor amplifier
Serial cable to communicate with PC
CD-ROM containing C-Motion and Pro-Motion software programs
MC73110 Product Manual
MC73110 Developer’s Kit Manual
The Developer’s Kit is a self-standing card supported by aluminum standoff 4.093" x 6.800" in size. The PCB
board is FR-4 four-layer with 2 oz. copper. The thickness is 62 mil. It accepts a single power connection of 18V to
48V, from which the card itself derives all other needed voltages using an on-board DC to DC converter device.
During initial setup and operation, a serial cable connects the card to a PC, which runs PMD’s Pro-Motion exerciser
program. The serial port can be operated in point-to-point mode, or multi-drop mode. The card can also be
operated standalone, without serial port connection. In this mode the card receives a command from an external
motion controller via analog or digital hardware signals. When operated in standalone mode, MC73110 param-
eters are loaded into the MC73110 at power up via an on-board serial EEPROM which is installed in an 8-pin DIP
socket located on the Developer’s Kit card.
The card drives a 3-phase brushless DC motor at up to 10 amps continuous current, 15 amps peak. A wide range
of motor inductances are supported. An on-card temperature sensor can be used to alert the user of an over-
temperature condition on the amplifier.

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The following diagram provides a summary of the functions of the MC73110 Developer Kit card.
The Developer’s Kit can be used for a number of purposes. It is useful as a:
‘Ready to go’ system that exercises the MC73110
Reference design for an MC73110-based amplifier/drive
Pre-production system with which the user’s application can be developed,
and motors can be tested
Test system from which various switching power block sections can be tested

MC73110 Developer’s Kit Manual 11
Installation 2
2.1 Software
Two major software packages are provided with the MC73110 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 MC73110 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:
Project window for accessing card parameters
Ability to save and load current settings
Motor-specific parameter setup
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
MC73110 Developer's Kit card. C-Motion includes the following features:
Axis virtualization
The ability to communicate to multiple MC73110 Developer’s Kit cards
Can be easily linked to any “C/C++” application
Pro-Motion is described in section 3, Using Pro-Motion, page 21, C-Motion is described in detail in section 4, Developing
Your Own Applications with C-Motion, page 31.
2.2 Documentation
There are two manuals specifically associated with the MC73110 card. A brief description of each is listed below.
Component Name Description
part number
MC73110PM MC73110 This is the complete description of the MC73110 IC.
Product Manual It includes electrical specifications, theory of operations,
and a programmer’s command reference.
DK73110M MC73110 This document guides you through installation and operation
Developer’s Kit Manual of the MC73110 Developer’s Kit. It describes the Developer’s
Kit card and software, and provides complete schematics
for the card.
To download these documents, or request that they be sent to you, visit the PMD website at www.pmdcorp.com
or contact your PMD representative.

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Installation
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2.3 Connection Configurations
There are two major connection configurations of the MC73110 Developer’s Kit. The first is ‘internal switcher’,
and the second is ‘remote switcher’.
Internal switcher means that the Developer’s Kit uses its internal 10 Amp continuous (15 amp peak) on-board
MOSFET switchers and current sense circuitry to form a complete standalone intelligent amplifier card. This is the
normal operating state of the system, and the most convenient to use when initially working with the MC73110
Developer’s Kit.
Remote switcher means that an external switching triple half-bridge and associated current sense and conditioning
circuitry is installed. Section 5, Electrical Reference, page 33, provides complete details on the signals that are required
to connect to an external amplifier. This configuration is useful for prototyping with a custom-designed amplifier
for the purpose of verifying your own amplifier design, or driving motors with a larger current capacity than 10
Amps continuous.
The diagrams below illustrate these two configurations.
Internal
switcher
configuration
Remote
switcher
configuration

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Installation 2
2.4 Installation Sequence
For a normal installation of a MC73110 Developer’s Kit card, you will need to configure your card for the
connection configuration you will be using (internal or remote). Configuration of the MC73110 Developer’s Kit
card is described in detail in section 2.6, Preparing the Card for Installation, see page 14.
Next you will need to connect your system’s motors, encoders, amplifiers, and sensors as desired to operate your
motion hardware. A description of the connections that are made for the MC73110 Developer’s Kit card is found
in section 2.7, Connecting to the Card, see page 15.
Once this hardware configuration is complete, you should then install the software. Installation of the software is
described in section 2.9, Software Installation, see page 19.
The final step to finish the installation is to perform a functional test of the finished system. This is described in
section 2.10, First Time System Verification, see page 19.
Once all of the above has been accomplished installation is complete, and you are ready to operate the card.
2.5 Required Hardware
To operate the MC73110 Developer’s Kit card with Pro-Motion, the Windows-based exerciser program, you will
need the following hardware:
1The recommended platform is an Intel (or compatible) processor, Pentium or better, 5 MB of
available disk space, 32MB of available RAM, and a CDROM drive. The PC operating system
required is Windows 9X/ME/NT/2000/XP.
2A 3-phase Brushless DC Motor with Hall sensors and optional quadrature encoder feedback
with index.
3Cables as required to connect to the MC73110 Developer’s Kit card to your motor, to your
encoder, to the card power input, to the analog or digital command signals. In addition you
will connect the PC to the card via an included DB-9 cable. For complete descriptions of these
connections see section 2.7, Connecting to the Card, page 15.

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2.6 Preparing the Card for Installation
The following table shows the user-settable jumper options for the MC73110 Developer’s Kit card. For jumper
locations see the diagram on the bottom of the page.
Jumper Jumper Description
setting
JP1, JP2 1-2 Selects RS-232 communication using on-board transceiver.
This is the default position of this jumper.
2-3 Selects RS-485 communication using user-provided daughtercard. For a
complete description of the electrical requirements of this daughtercard,
see section 5.2.3, RS-485 Connector, page 39.
3-4 Reserved
JP3-JP5 1-2 Reserved, must be set to 1-2
JP6, JP7 1-2 Selects use of on board amplifier/switcher. This is the default setting.
2-3 Selects use of remote amplifier/switcher. This setting is useful to
verify custom amplifier design or to connect to more powerful switching blocks.
JP9, JP10 1-2 Reserved, must be set to 1-2.
In addition, the following resistor packs should be installed depending on whether single or differential quadra-
ture encoders are used.
Resistor How to set Description
pack
J8 Installed If you are using differential connections
this is the default setting leave the resistor pack installed.
Removed If you are using single-ended encoder connections,
remove the resistor pack.
Figure 1-1.
Location of
various board
elements

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Installation 2
2.7 Connecting to the Card
There are a total of seven connectors that can be used with the MC73110 Developer’s Kit card as follows:
Connector Name Function
J1 Power Provides operating power to the Developer’s Kit card.
J2 Motor feedback Inputs various motor-related signals.
J3 RS-485 Provides communication to/from the card when a
multi-drop RS485 is used.
J4 Motor Provides high voltage, high current connections to the
motor from the amplifier output.
J5 Remote switcher Inputs and outputs various signals for use with a
remote switching block.
J6 Host Inputs and outputs various non-motor command and
feedback signals to/from the Developer’s Kit card.
J7 Serial port Provides RS-232 communication to/from the card using
an on-card transceiver driver chip. This connector is
designed to interface without null-modem or other
changes to a DB-9 PC serial port.
Here is a summary of the connector types expected for these 7 connectors:
Connector Signal type # pins Type
J1 High power 2 Through-hole terminal block (screw connection)
J2 Low power 14 Side-facing single row shrouded header
digital & analog (1-in-line 0.100” pitch friction lock header)
J3 Low power digital 5 1-in-line 0.100” pitch header
J4 High power 3 Through-hole terminal block (screw connection)
J5 Low power 16 8 x 2 vertical header (2mm pitch)
digital & analog
J6 Low power 12 Side-facing single row shrouded header
digital & analog (1-in-line 0.100” pitch friction lock header)
J7 Low power digital 9 Side-facing D-sub 9 (Female)
2.7.1 Initial Setup
To initially set up the Developer’s Kit card for checkout and verification, four connectors must be used - J1
(Power), J2 (motor feedback), J4 (motor), and J7 (serial port). In addition, the host connector (J6) is frequently
used during testing after initial setup, in which case the serial port becomes optional. The signal connections for
these connectors are indicated in the following sections. For a complete description of all connectors see section 5,
Electrical Reference, page 33.

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2.7.2 Power Connector (J1)
The power connector provides power to the card. All other voltages used by the card are derived from this central
supply using an on-card DC-DC converter. The voltage provided at these connections matches the voltage at
which the motor will be driven.
Pin # Signal Description
name
1 V+ 18 - 48V. Current capacity specification should be
maximum motor drive + 1amp (to power the card)
2 PowerGnd Ground return for V+
2.7.3 Motor Feedback Connector (J2)
The motor feedback connector inputs various motor-related signals to the Developer’s Kit card. All these signals
are low power, low voltage digital or analog signals.
Pin # Signal Description
1 +5V This signal provides 5V.
This is often useful to power the encoder circuitry.
2 GND This signal provides the digital return.
3 QuadA+ This input signal provides the high side of the differential quadrature input for encoder
phase A. For more information on connecting encoders see section 2.6, Preparing the
Card for Installation, page 14. If unused this signal may be left unconnected.
4 QuadA- This input signal provides the low side of the differential quadrature input for encoder
phase A.When using a single-ended encoder, this pin should be left unconnected. For
more information on connecting encoders see section 2.6, Preparing the Card for
Installation, page 14. If unused this signal may be left unconnected.
5 QuadB+ This input signal provides the high side of the differential quadrature input for encoder
phase B. For more information on connecting encoders see section 2.6, Preparing the
Card for Installation, page 14. If unused this signal may be left unconnected.
6 QuadB- This input signal provides the low side of the differential quadrature input for encoder
phase B. When using a single-ended encoder, this pin should be left unconnected. For
more information on connecting encoders see section 2.6, Preparing theCard for
Installation, page 14. If unused this signal may be left unconnected.
7 Index+ This input signal provides the high side of the differential quadrature input for the
Index signal. For more information on connecting encoders see section 2.6, Preparing
the Card for Installation, page 14. If unused this signal may be left unconnected.
8 Index- This input signal provides the low side of the differential quadrature input for the Index
signal.When using a single-ended encoder, this pin should be left unconnected. For
more information on connecting encoders see section 2.6, Preparing theCard for
Installation, page 14. If unused this signal may be left unconnected.
9 GND This signal provides the digital return.
10 HallA These signals are the Hall sensor inputs. For logic “0”, the signal should be lower than
11 HallB 0.5V; for logic “1”, the signal should be greater than 1.5V.
12 HallC
13 TachIn+ This is the positive input signal for the analog tachometer signal.This signal represents
the instantaneous speed of the motor. The input range is +/- 60V. If unused this signal
may be left unconnected.
14 TachIn- (GND) This is the negative input for the analog tachometer signal. The input range is +/- 60V.
If unused this signal may be left unconnected.

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Installation 2
2.7.4 Motor Connector (J4)
The motor connector provides the high voltage 3-phase outputs from the amplifier/switcher to the motor.
Pin # Signal Description
1 MotorC Leg 3 of 3 motor coil connections
2 MotorB Leg 2 of 3 motor coil connections
3 MotorA Leg 1 of 3 motor coil connections
2.7.5 Host Connector (J6)
The Host connector inputs and outputs various non-motor related signals to/from the Developer’s Kit card
Pin # Signal Description
1 Estop This digital input provides an emergency stop signal to the Developer’s Kit card.
Although its function and interpretation are programmable, normally a high signal
(greater than 1.5V) indicates an emergency stop is not active; and a low signal (less than
.5V) indicates that it is active. If unused this signal may be left unconnected.
2 AmplifierDisable This digital output signal provides a programmable output signal indicating the internal
state of the MC73110. Normally, a low output indicates an error, while a high signal
indicates no error. In addition to being an output at this connector, this signal is also used
internally by the MC73110 Developer’s Kit card to shut down the amplifier’s switchers
when the amplifier operates in ‘internal switcher’ mode.
3 GND This signal provides a digital ground return.
4 DigitalCmdClk This digital input signal provides the SPI datastream ‘clock’ signal.
5 DigitalCmdData This digital input signal provides the SPI datastream ‘data’ signal
6 GND This signal provides a digital ground return.
7 +5V This signal outputs provides 5V to external circuitry.
8 n.c. —
9
10 AnalogCmd+ This analog input signal provides the positive input of the analog command. Depending on
how the MC73110’s control loop has been programmed, this signal represents the
desired voltage, torque or velocity. The input range is +/-10V.The reference input can be
differential or single-ended.
11 AnalogCmd- This analog input signal provides the negative input of the analog command. Depending
on how the MC73110’s control loop has been programmed, this signal represents the
desired voltage, torque or velocity. The input range is +/-10V. The reference input can be
differential or single-ended. When it is single-ended, AnalogCmd- must be connected to
AGND, pin 12.
12 AGND This signal provides an analog ground return

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Installation
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2.7.6 Serial Port Connector (J7)
The RS-232 serial connector provides communication to/from the card using an on-card transceiver driver chip.
This connector is designed to interface without null-modem or other changes to the DB-9 PC serial port. These
signals are low power, low voltage digital or analog signals.
Pin # Signal Description
2 SrlXmt Serial transmit signal from the MC73110 Developer’s Kit transceiver chip.
3 SrlRcv Serial receive signal to the MC73110 Developer’s Kit card.
5 GND Ground
2.8 Applying Power
Once you have installed or removed the correct jumpers and resistor packs, and once you have made the correct
connections to your hardware, installation is complete and the Developer’s Kit is ready for operation.
Upon application of power through connector J1, the card will be in a reset condition. Assuming that the flash
hasn’t been programmed or that a serial EEPROM hasn’t been installed, the MC73110 will utilize its default
values, and therefore, the motor should remain stationary. If the motors do move or jump, power down the card
and check the amplifier and encoder connections. If anomalous behavior is still observed, call PMD or your
distributor for application assistance.
2.8.1 Card Reset
During card operations, if at any time you wish to reset the MC73110, you can use the reset button indicated in
diagram 2.1 on page 14. Pushing the button will reset the controller.
2.8.2 LED Status Indicators
The MC73110 Developer’s Kit card has two LEDs to indicate the status of the board. Once the card has been
powered up the green power status LED should light. After the AmplifierDisable output pin is driven to an
Amplifier enabled condition, the red LED should light as well. The table below summarizes this:
LED Name Function
color
Green Power Status The green LED is on when the board is powered up and the 3.3V is available.
Red Amplifier Status The red LED is on when the amplifier is ready. It is controlled by the AmplifierDisable
pin (pin 23) of the MC73110. Normally the red LED will be off after power up. See section
2.10, FirstTime System Verification, page 19, for more information.

MC73110 Developer’s Kit Manual 19
Installation 2
2.9 Software Installation
Locate the CD included in the Developer’s Kit. This CD contains 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 95/98/ME or Windows NT/2000.
If you have autorun enabled, the installation process will start when you insert the CD. The installation program
will guide you through installing the software. Upon completion of the installation process, the following
components will be installed:
Pro-Motion - an application for communicating to and exercising the installed Developer’s Kit.
Refer to section 3, page 21, for operating instructions.
C-Motion - source code that can be used for developing your own motion applications based
on the MC73110. Refer to section 4, page 31, for further information. These files are installed in
the “C-Motion” folder, a sub-folder of the installation folder.
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>.
2.10 First Time System Verification
After you have installed the card hardware, made the appropriate connections to your motor, and installed your
software, you are ready to perform a simple test that will determine whether your motor is connected correctly. The
following producedure should work for the majority of brushless motors, even if the gain parameters may not be
optimized for your particular motor. Note that at any time the Pause/Break key can be pressed to disable the
servo loops and motor output should the motor start to move erratically or uncontrollably.
1Run Pro-Motion by double clicking the Pro-Motion icon on the desktop.
2If Pro-Motion cannot find the DK Board verify the serial port connections and select the
appropriate COM port in the Interface dialog and click OK. Accept the default serial port
settings by clicking OK. Refer to section 3.1 Communication for more information.
3If the Axis Wizard pops up click Cancel.
4Select File/Open from the menu and open the StartupTest.pmd file. The parameters will be
uploaded to the DK Board and the amplifier will be enabled. Be prepared to hit the Pause/
Break key to disable the motor if improper motion is observed.
5The motor should now rotate slowly in either the clockwise or counterclockwise direction. If
this occurs, the first time system verification has been completed succesfully. If not, recheck the
motor connections. If the trouble persists contact PMD or a PMD representative for assistance.

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