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MC58113 Developer`s Kit User`s Manual

1. ss 3 5 Environmental and Electrical Ratings 3 6 DK58113 On Card Amplifier Quick Reference MC58113 Developer s Kit User s Manual Vv a Table of Contents This page intentionally left blank vi MC58113 Developer s Kit User s Manual 1 Installation In This Chapter Introduction Magellan Motion Control IC Family Overview How To Order Developert s Kit Component List DK58113 Card Software Included Accessories Installation Overview Recommended Hardware Software Installation Preparing the Card for Installation Connection Summary Applying Power VvVvvVVVVVVVVVVVY First Time System Verification 1 1 Introduction The PMD MC58113 Developer s Kit is an integrated board software package that serves as an electrical and software design tool for building systems that use Magellan MC58113 series ICs The developer s kit supports all members of the MC58113 IC family as shown below Developer s Kit p n Installed IC Motors supported DK58113 MC581 13 DC Brush Brushless DC step motor DK53113 MC53113 Brushless DC DKS5I113 MC51113 DC Brush DK54113 MC54113 Step motor All of the above Developer s Kit versions share the same physical DK58113 card as well as the same software CD They differ in the specific type of MC58113 series IC chip that is installed in the card Note that throughout this manual the term MC58113 may be used to mean all members of the MC58113 s
2. It is the responsibility of the user to connect and to specify a shunt related resistor and diode that are safe for the application being controlled 2 6 Connecting to a Remote Amplifier 5V J2 O O 2o 29 29 29 29 29 oOo oo J12 DK58113 Remote Amplifier Optional HV a HV In addition to the DK58113 s on card switching amplifier J12 provides connections for an external remote switching amplifier This connector is typically used to interface with user designed amplifiers that service higher power motors or motor or actuators that require a special bridge configuration Such an external amplifier connection is shown in Figure 2 7 MC58113 Developer s Kit User s Manual Note that connection of the remote amplifiers HV supply to the DK58113 card is optional Doing so allows use of the DK58113 s over and undervoltage check feature The DK58113 s on card amplifier must be disabled via JP and JP2 for remote amplifier operation See Section 1 8 Installation Overview on page 2 for details 2 7 Connecting to an Atlas Amplifier 5V SPI Atlas aa 0000 J2 J10 ae DK58113 HV Connector J10 provides a DB 9 connection that is compatible with PMD s Atlas Digital Amplifier single axis DK card Any Atlas motor type DC Brush Brushless DC or step motor can be driven and Atlas s full SPI
3. Step motor Foldback Maximum 2 This value should be entered to ensure the on card amplifier E a 125 A sec nergy Limit does not operate above the maximum safe current output For use with motors that have current and energy limits lower than those specified above it may be useful to reduce these parameters These limits are designed to be safe for operation of the DK581 13 s on card amplifier when cooled with a 110 CFM or higher fan and with an ambient room temperature of 25 degrees C For use without a fan or in higher ambient temperature environments these values should be lowered If special heatsinking is used the DK58113 card is capable of driving motors at 7 amps continuously or higher in which case these limits can be increased Contact PMD for details If a remote amplifier via the J12 connector is used the value of these settings will likely change If an Atlas amplifier is used these parameters do not need to be specified It is the responsibility of the user to set the Foldback Continuous Current and Foldback Energy Limit parameters to values that are safe for the DK581 13 heat sinking scheme and motor setup being used 32 MC58113 Developer s Kit User s Manual ee 2 O All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information 2 4 2 Over
4. 5V via J2 is required Pin Signal Description J12 Remote Amplifier Connector l AmplifierEnable AmplifierEnablel output signal from MC581 13 2 PWMOutputDisable PWMOutputDisable input signal to MC58113 3 PWMHighlA PWMHigh IA output signal from MC581 13 4 PWMLowlA PWMLow lA output signal from MC581 13 5 PWMHighIB PWMHigh1B Pulsel output signal from MC581 13 6 PWMLow IB PWMLow IB Direction output signal from MC581 13 7 PWMHigh IC PWMHigh I C AtRest output signal from MC581 13 8 PWMLowIC PWMLowIC output signal from MC581 13 9 PWMHigh D PWMHigh ID output signal from MC581 13 10 PWMLow D PWMLow ID output signal from MC581 13 II GND Ground 12 AGND Analog Ground 13 CurrentlA CurrentlA analog input signal to MC581 13 14 Current B Current B analog input signal to MC581 13 15 Current C Current C analog input signal to MC581 13 16 Current D Current D analog input signal to MC581 13 3 2 7 Shunt Connector J14 The DK58113 card uses a dedicated high current 2 pin connector for connection to a shunt resistor or similarly functioning component in applications where it may be desirable to remove excess voltage from the DC bus This connector is a Phoenix Contact 2 circuit pluggable terminal block Pin Signal Description J14 Shunt Connector l HV HV 2 Shunt Switched connection to ground 3 2 8 CAN Connectors J6 J7 The DK58113 s controller are a network CAN transceivers
5. Interface e Provided as source code allowing easy compilation amp porting onto various run time environments including PC microprocessor embedded card or C Motion Engine e Can be easily linked to any C C application C Motion is described in the Magellan Motion Control IC Programmers Command Reference 1 6 3 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 but no special software support is provided Includes the following features e Magellan axis virtualization e Ability to communicate to multiple PMD motion cards or modules MC58113 Developer s Kit User s Manual 11 4 Installation Ability to communicate via PCI bus serial CANbus or Ethernet Provided as a single DLL and Visual Basic NET source code for easy porting onto various PC environments VB Motion is documented in the PMD Resource Access Protocol Progammer Reference Taz Included Accessories The DK58113 includes various accessories that you may find useful Component PMD Part Description Number Cable 1007 01 Serial cable This cable connects to the DK58113 s DB 9 serial port and provides a connection to a PC serial port or USB to serial converter Cable 4705 KIT 01 R CANbus connector and terminato
6. and examples 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 technical 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 MC58113 Developer s Kit User s Manual ey we Table of Contents 1 Installation 1 1 Introduction 1 2 Magellan Motion Control IC Family Overview 1 3 HOW To Order scdiecssivscccvedoscsinsssaitsvstionsssedsetestascatatese ais 1 4 Developer s Kit Components LiSt cesssessssssecsseecsseccssecesseccssccessccensccssscesscessccessceesneccsnecssneestes TS B oy lt b oa Cardin nnan on en a a 16 Softw rei siinne a n a a a T7 Incl ded AccessOri S eisian aanraai aiiai is 1 8 Installation OVErViQW csescssssssssscssssccssecsssccsssccsssecsneccsssccsnscessscesseccsscesesecssscesuseessseceasecsnceseeeseees 1 9 Recommended Hardware ssscssssccsssccssscssssccsseccssecsnecsssecssscessescsueeessccessscessceesueessnceesnecesseeesaees 1 10 Software Installation ccssscsssscsssscsssecssccsssccsssecsseec
7. s J13 connector SPI interface module NI USB 8452 National Instruments This module generates SPI signals compatible with the MC58113 s host SPI interface SPI interface module USB NI USB 8452 National Instruments This cable connects a USB port with the NI cable USB 8452 module It is included with purchase of the USB 8452 module Once these hardware items are installed PMD s Pro Motion exerciser can be set for SPI communication mode and thereafter will communicate to the DK58113 via the SPI interface For more information on setting communication modes refer to the Pro Motion Users Guide The special hardware items listed above which are required for SPI communications between Pro Motion and the e DK581 13 card are not included with the standard DK581 13 These items must be purchased separately from the Di indicated manufacturer Only the above listed SPI interface module is supported by Pro Motion User designed or other third party SPI interface modules will not function correctly with Pro Motion unless they are 100 compatible with the above listed SPI interface module 2 2 3 CANbus The DK58113 has a dual RJ45 connector J6 J7 to allow daisy chaining of MC58113s in a CANbus network All pins in each port are connected to the corresponding pin in the other port CAN_SHLD CAN_V and the two Reserved pins are not used by DK58113 but are passed through from one port to the other When the DK58113 module is the last node of a
8. s Kit User s Manual 17 4 Installation 1 12 1 2 Auxiliary Encoder Input J9 is the feedback connector for axis 2 which is the auxiliary axis for the MC58113 IC This axis provides an additional encoder datastream for use in the MC58113 s dual loop control mode or with electronic gear profile mode In addition various other signals are input via this connector For this getting started installation of the DK58113 the auxiliary encoder inputs will not be used For detailed information on the J9 connector and related electrical functions see Section 3 2 3 Axis Feedback Connectors J8 J9 on page 45 1 12 2 Motor Drive Connections The following table summarizes the motor drive connections from the DK58113 to the motor The motor drive connector J3 is designed to connect to all available motor types Brushless DC DC Brush and step motor There are four motor drive connections and a shield connection Not every motor type uses all four drive connections however The J3 Motor Drive Connector is a male Molex Mini Fit Plus style connector Pin Signal Name Description l MotorA A motor drive lead Used with all motor types 2 MotorB B motor drive lead Used with all motor types 3 MotorC C motor drive lead Used with all motor types except DC Brush 4 MotorD D motor drive lead Use with step motors only 5 Case shield Connection to motor case shield A shield connection is strongly recommended for most motor
9. BLDC motors this parameter must be set to this value PWM High Low motor output mode must be selected to use the DK581 3 s on card amplifier If any other motor output mode is selected the on card amplifier must be disabled by installing JPI and JP2 in the 2 3 position See Section 1 8 Installation Overview on page 2 for more information All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information 2 3 5 DK58113 Current Scale Value To correctly control or trace motor current it is useful to know the DK58113 s amplifier specific current conversion factor The following table shows this Parameter Value amp Units Comments Leg Current 733 mA count This value should be entered so that the motor Conversion current can be traced and displayed correctly in amps All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information MC58113 Developer s Kit User s Manual 31 ED C 2 4 Drive Protection and Control Signals 2 4 1 I2t Current Foldback Protection 2 eer The MC58113 uses current feedback to implement I t current limiting This feature protects the on card amplifier by controlling its ability to
10. Circuit AxisIn1 gt gt 74LCXS40MTC The output driver for the AxisOut signal is shown in Figure 2 13 This circuit can continuously sink over 100 mA and source 4mA from a pull up resistor to 5V The diode in series with the pull up resistor allows loads powered from up to 24 VDC to be switched The FET driver is internally protected from shorts up to 30 V MC58113 Developer s Kit User s Manual 39 Figure 2 13 AxisOut Circuit Figure 2 14 Enable Input Circuit 40 3 3V 1 0K e amp xisDut 3 3 4 1 K a21 2 MMUN2216LT1G 20 10 74LCX540MTC v SZ AxisIn and AxisOut are versatile I O signals They are not dedicated to any particular motion control function but can be programmed to implement a wide array of system integration functions See the Magellan Motion Control IC User s Guide for more information on configuring and programming these signals 2 9 Enable and FaultOut Signals These dedicated signals are typically used to implementa safety interlock between the DK58113 card and other control portions of the system Enable is an active low input that must be tied or driven low for the DK58113 output stage to be active FaultOut indicates a serious problem When DK58113 is operating properly FaultOut is inactive The polarity of these signals is fixed and cannot be changed via software The input buffer for the Enable input is shown in Figure 2 14 This circuit accepts signals
11. amplifier l 2 Installing jumpers at l 2 for JPI and JP2 configures the DK58113 for operation of the on card amplifier 2 3 Installing jumpers at 2 3 for JPI and JP2 disables the on card amplifier and configures the DK581 13 for operation with a user designed amplifier via the J12 Remote Amplifier Connector or with an Atlas DK amplifier via the J10 connector JP4 1 2 RS 232 l 2 Installing a jumper at 2 for JP4 configures the DK581 13 for RS 232 serial operation 2 3 Installing a jumper at 2 3 for JP4 configures the DK581 13 for RS 485 serial operation 1 11 1 Enabling the Card The MC58113 requires an active Enable signal to operate To accomplish this the Amplifier Signal Connector J4 is used Connect terminal 1 of J4 to terminal 3 of J4 using a short wire J4 provides convenient push type connections so no other hardware is needed to make this connection For reference the following table provides the pinouts of the J4 terminal block connector Setting amp Description Pin Description Enable l Enable input Must be tied low GND to enable the MC581 13 for full operation FaultOut 2 Programmable FaultOut signal output GND 3 Digital ground MC58113 Developer s Kit User s Manual 15 Installation 1 12 Connection Summary Figure 1 3 Amplifier HV Power Brushless DC Signal Connector Connector Motor Enable HV GND Connection Motor 3 Phase Drive B
12. communications capabilities are supported The DK58113 s on card amplifier must be disabled via JPI and JP2 for Atlas Amplifier operation See Section 1 8 Installation Overview on page 2 for details 2 8 Motor Feedback Signals The Axis Feedback connector contains the main encoder signals as well as Hall commutation signals These signals are buffered and filtered in the Quadrature Signal Conditioning and Digital Signal Conditioning blocks respectively as shown in the block diagram DK58113 supports incremental quadrature encoders with count rates up to 25 Mcounts per second 2 8 1 Encoder Inputs The differential input circuitry for the encoder A B and Index signals is shown in Figure 2 9 This circuit accepts both differential and single ended signals in the range of 0 5 V For single ended operation the unused input should be left floating MC58113 Developer s Kit User s Manual Figure 2 8 DK58113 to Atlas Digital Amplifier DK Connection 37 Figure 2 9 Main Encoder Input Circuits Figure 2 10 Hall Input Circuits 38 5V 2 2K QuadAl QuadBi Index1 gt QuadAl QuadBi Indexl gt gt DS26LV32AT 2 8 2 Hall Inputs The input buffer for the Hall A B and C signals is shown in Figure 2 10 This circuit accepts signals in the range of 0 24 V and has TTL compatible Schmitt trigger thresholds It has a pull up to 5V to allow direct interfacing to open coll
13. 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 Users Guide for complete information on the Pro Motion application You may also want to refer to the Magellan Motion Control IC Users Guide to familiarize yourself with operation of the MC58113 or the MC58113 Electrical Specifications 1 14 1 Establishing Serial Communications To establish serial communications 1 Make sure the MC58113 card is powered and connected to the PC via its serial port 2 Launch the Pro Motion application When Pro Motion is launched you will be prompted with an Interface selection window A typical screen view when first launching Pro Motion appears below The purpose of the Interface dialog box is to indicate to Pro Motion how your DK58113 card is connected to the PC It provides various selectable communication options such as PCI serial CANbus Ethernet Untitled Pro Motion Interface Select Interface Type None Demo pa e COM Pott COM1 x C CAN C Ethemet SPI 3 Click Serial and then click OK The Serial Port dialog box displays with default communication values of 57 600 baud no parity 1 stop bit and point to point protocol 4 Click OK without changing any of these settings 20 MC58113 Developer s Kit User s Manual Installation 4y If serial communication is correctly established a set of object grap
14. in the range of 0 24 V and has TTL compatible Schmitt trigger thresholds It has a pull up to 5V to allow direct interfacing to open collector enable sources without the need for an external pull up resistor and a 1 3 kHz R C low pass filter to reject noise 5V A 4 7K 5V 3 3V A A VY 14 20 22K 1 2 2 18 Enable X 7 10 5 6nF SN74ACT14PWRG4 74LCX540MTC MC58113 Developer s Kit User s Manual ey 2 O The output driver for FaultOut is shown in Figure 2 15 This circuit can continuously sink over 100 mA and source 4mA from a pull up resistor to 5V The diode in series with the pull up resistor allows loads powered from up to 24 VDC to be switched The FET driver is internally protected from shorts up to 30 V 3 3V A 20 3 4 1 10 74LCXS40MTC Z 2 10 Multi card Synchronization The Synch connector located on the DK58113 card J13 allows for the synchronization of multiple DK58113 cards within a single system To connect two or more DK58113 cards for synchronization a cable is required This cable is connected to the Synch connector on the card The Synch connector is wired in a T configuration as shown in Figure 2 16 For more information on synchronizing multiple DK58113 cards see the Magellan Motion Control IC Users Guide The following diagram shows three synchronized cards J13 Synch Connector J13 Synch Connector DK58113 DK58113 Card Card Master Slave MC58113 Deve
15. n ISSM 02 J2 5V Power Molex KK254 solid header single row p n Molex KK254 crimp housing single 22 27 2041 row 4 circuits p n 22 01 2041 3 3 Motor Connection Quick Reference The following sections show typical motor connection names and the associated DK58113 connector and pin numbers 3 3 1 Brushless DC Motor Connections Connection Name DK58113 Pin Motor A J3 1 Motor B J3 2 Motor C J3 3 Case Shield J3 5 3 3 2 DC Brush Motor Connections Connection Name DK58113 Pin Motor J3 1 Motor J3 3 Case Shield J3 5 3 3 3 Step Motor Connections Connection Name DK58113 Pin Motor A J3 1 Motor A J3 2 Motor B J3 3 Motor B J3 4 Case Shield J3 5 3 4 Absolute Maximum Ratings HV voltage range OV to 60V 5V voltage range 0 3V to 5 5V Storage Temperature 40 to 150 C MC58113 Developer s Kit User s Manual 51 4 Electrical Reference 52 3 5 Environmental and Electrical Ratings Storage temperature 40 to 125 degrees C 40 F to 257 F Operating temperature 0 to 70 degrees C 32 F to 158 F HV power requirement 12V to 56V operating range Motor amplifier continuous current limit 5 0 A Motor amplifier peak current limit 10 0 A Optional 5V requirement 4 75V to 5 25V DC operating range Digital I O voltage range OV to 5V TTL thresholds inputs pulled up to 5V through 4 7 kOhm resistors Digi
16. setups You may refer to Figures 1 3 through 1 5 or use the table below to determine which leads should be connected for each supported motor type Motor type DK58113 Motor Lead Motor Coil Connections Brushless DC MotorA A winding connection MotorB B winding connection MotorC C winding connection Case shield optional motor shield connection DC Brush MotorA winding connection MotorB winding connection Case shield optional motor shield connection Step motor MotorA phase A winding connection MotorB phase A winding connection MotorC phase B winding connection MotorD phase B winding connection Case shield optional shield connection Shield connections to the motor are strongly recommended Not connecting the shield signal may result in in creased EMI electromagnetic interference reduced immunity to ESD electro static discharge or electrical noise resulting in motor operation failure MC58113 Developer s Kit User s Manual Installation 4 1 12 3 Motor Power Connections The following table summarizes the motor power connections from the DK58113 to your power supply This HV connection is also the power connection from which the card logic power is derived using an on board DC DC converter All connections are made through the Motor Power Connector which is a Phoenix Contact 2 circuit terminal block Connector Pin Signal Name Description HV Positive motor voltage power 2 G
17. signals and two analog feedback signals interface between the MC58113 IC and the DK58113 s switching amplifier MC58113 signal Description PWMHighlA Digital high side drive output for positive coil terminal PWMLowlA Digital low side drive output for positive coil terminal PWMHighIB Digital high side drive output for negative coil terminal PWMLow IB Digital low side drive output for negative coil terminal CurrentlA Analog input containing the current flow through the positive leg of the bridge Current B Analog input containing the current flow through the negative leg of the bridge MC58113 Developer s Kit User s Manual 29 2 3 3 Step Motor Drive Figure 2 5 shows the arrangement of the DK58113 s amplifier stage when the MC54113 IC is used or when the MC58113 IC is used with the two phase step motor type selected PWMLow1B Figure 2 5 Two Phase PWMHigh1A a Step Motor i Bridge Configuration fF 0000H Phase A CurrentiA Analog Analog Conditioning Conditioning Current1B MC54113 PWMLow1D Pre PWMHigh1D PWMHigh1C HV Pre PWMLow1C diver S DO Phase B Current1C Analog Analog Conditioning Conditioning 7 Current1D ee As shown in the table below eight PWM output signals and four analog feedback signals interface between the MC58113 IC and the DK58113 s switching amplifier MC58113 signal Description PWMHighlA Digital h
18. use including without limitation any Damages arising out of the failure of the PMD product to conform to specifications Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other in tellectual property right of PMD covering or relating to any combination machine or process in which such products or services might be or are used PMD s publication of information regarding any third party s products or services does not constitute PMD s approval warranty or endorsement thereof MC58113 Developer s Kit User s Manual My Related Documents Magellan Motion Control IC User s Guide Complete description of the Magellan Motion Control IC features and functions with detailed theory of its operation MC58113 Electrical Specifications Information on physical and electrical characteristics timing diagrams pin descriptions application notes and application schematics of MC58113 IC Magellan Motion Control IC Programmer s Command Reference Descriptions of all Magellan Motion Control IC commands with coding syntax and examples listed alpha betically for quick reference PMD Resource Access Protocol Programmer s Reference Description of all Prodigy CME and ION CME product commands with software architecture overview command syntax
19. 1 J8 which is a high density female DB 15 Pin Signal Name Description QuadAI Differential A quadrature input optional for step motor axes 2 QuadAl Differential A quadrature input optional for step motor axes 3 QuadB I Differential B quadrature input optional for step motor axes 4 QuadB Differential B quadrature input optional for step motor axes 5 GND This is the preferred ground connection for the quadrature and Index signal inputs 6 Index Differential Index quadrature input optional for step motor axes 7 Index Differential Index quadrature input optional for step motor axes 8 HalllA Hall signal input phase A not used for DC Brush or step motors 9 Hall B Hall signal input phase B not used for DC Brush or step motors 10 Halll C Hall signal input phase C not used for DC Brush or step motors 11 Homel Home signal input optional 12 PosLim Positive position limit input optional 13 NegLim Negative position limit input optional 14 5V 5V power output which may be used to power the motor s encoder circuitry 15 NC No Connect 1 12 1 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 MC58113 Developer
20. CANbus network the network can be terminated by plugging a RJ45 terminator into the unused port MC58113 Developer s Kit User s Manual 27 Ne Standard UTP unshielded twisted pair CAT5 Ethernet cabling can be used in most CAN applications For added noise immunity shielded cable can be used with the shield routed through the CAN_SLD pins 2 3 Switching Motor Amplifier The DK58113 module contains a high efficiency MOSFET power stage with PWM input control and leg current feedback A different configuration is used for each motor type e Brushless DC motors are driven in a 3 phase bridge configuration consisting of 6 MOSFETs and 3 leg current sensors e DC Brush motors are driven in an H Bridge configuration consisting of 4 MOSFETs and 2 leg current sensors e Step motors are driven with two H Bridges one for each phase for a total of 8 MOSFETs and 4 leg current sensors To operate the DK58113 s on card amplifier the JP1 and JP2 jumpers must be installed in the 1 2 position 2 3 1 Brushless DC Motor Drive Figure 2 3 shows the arrangement of the DK58113 s amplifier stage when the MC53113 IC is used or when the MC58113 IC is used with the Brushless DC motor type selected Figure 2 3 Brushless DC PWMHigh1A F PWMLow1A Configuration CurrenttA Phase A PWMHigh1B Pre driver MC58113 PWMLow1B Phase B Phase B or MC53113 Current1B Analog Conditioning Phase C PWMHigh1C drive
21. D or your PMD representative for assistance 1 14 First Time System Verification The first time system verification procedure summarized below has two overall goals The first is to connect the DK58113 card with the PC that is being used so that they are communicating properly and the second is to initialize the axis and bring it under stable control capable of making trajectory moves While there are many additional capabilities that Pro Motion and the DK58113 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 manual section 1 Initiate Pro Motion and establish communication between the PC and the card using the serial communications link MC58113 Developer s Kit User s Manual 19 4 Installation 2 Run Pro Motion s Axis wizard to initialize parameters such as encoder direction and safe servo parameters if using a servo motor Important In addition to application specific parameters you will need to enter various on card amplifier related parameters during Axis Wizard setup to safely operate with the on card amplifier Refer to Section 3 6 DK58113 On Card Amplifier Quick Reference on page 52 of this manual for a list of these required settings 3 Execute a simple trajectory profile on each axis demonstrating that it is operating
22. MIC58113 Developer s Kit User s Manual gt PM D Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 1 April 2015 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 ot 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 2015 by Performance Motion Devices Inc ATLAS Prodigy Magellan ION Magellan ION Pro Motion C Motion and VB Motion are registered trade marks of Performance Motion Devices Inc MC58113 Developer s Kit User s Manual Warranty PMD warrants that its products shall substantially comply with the specifications applicable at the time of sale pro vided that this warranty does not extend to any use of any PMD product in anUnauthorized Application as defined below Except as specifically provided in this paragraph each PMD product is provided as is and without warranty of any type including without limitation implied warranties of merchantability and fitness for any particula
23. ND Motor voltage power ground The HV voltage should be the voltage at which the motor will be driven and must be in the range of 12V 56V 1 12 4 Communication Connections While the DK58113 card can communicate using CANbus SPI Serial Peripheral Interface and one of two serial modes RS 232 and RS 485 in this first time installation we will set up the card for serial RS 232 communications To set up the card for operation in other communication modes see Chapter 2 Operation and the Pro Motion User s Guide A serial port accessory cable is included with the DK58113 This serial cable PMD p n Cable 1007 01 should be connected to the DK58113 card s J5 Serial Connector while the opposite end of the serial cable should be connected to your computer s 9 pin serial port If your computer does not have a dedicated serial port the included USB to serial converter should be used 1 13 Applying Power Once you have made your motion hardware communication and power connections hardware installation is complete and the card is ready for operation When power is applied the DK58113 s green power LED should light This LED is locatable using Figure 1 2 If the LED does not light recheck connections After power up no motor output will be applied Therefore the motors should remain stationary If the motors move or jump power down the card and check the motor and encoder connections If anomalous behavior is still observed call PM
24. O Connector Connector Name Description Synch J13 Provides signals that allow synchronization of the MC58113 with external controllers 5V Power J2 Provides logic power to the board when HV Power is not available or is not being used 3 2 1 HV Power Connector J1 The DK58113 card uses a dedicated 2 pin HV power connector J1 that accepts input voltage in the range of 12 to 56 VDC This connector is a Phoenix Contact 2 circuit pluggable terminal block connector Note that there is also a 5V power connector J2 on the board Users can power the DK58113 board with 5V supply when HV is not available However this will not power the on card switching amplifier When HV is present the 5V supply via J2 should not be used Pin Connection Description J1 HV Power Connector l HV Provides DC power to the card and on card switching amplifier 2 GND Ground 3 2 2 Motor Drive Connector J3 The Motor Drive connector J3 provide motor output signals for use with Brushless DC DC Brush or step motors This is a Phoenix Contact 5 circuit pluggable terminal block connector Pin Connection Description J3 Motor Drive Connector l Motor A Motor output signal A 2 Motor B Motor output signal B 3 Motor C Motor output signal C 4 Motor D Motor output signal D 5 GND Ground 3 2 3 Axis Feedback Connectors J8 J9 The Axis1 Feedback Connector J8 and Axis2 Feedback Connector J9 provide c
25. RS 232 All DK58113 card communication functions are controlled by the MC58113 IC For information on how to change serial port settings see the Pro Motion Users Manual or the Magellan Motion Control IC User s Guide For RS 485 the DK58113 supports 4 wire full duplex operation The DK58113 does not have built in termination for RS 485 If a network application requires termination at the serial connector the resistors must be added in the network wiring 2 2 2 Serial Peripheral Interface The DK58113 supports an SPI Serial Peripheral Interface connection for host communications via its J13 connector The user may use this connector to directly communicate with the DK58113 from their own custom hardware design or alternatively communicate to the SPI port via a Windows based PC Figure 2 2 shows this While SPI is not recommended as a general inter card interface it may be useful in various circumstances such as to debug SPI specific problems with a user designed card MC58113 Developer s Kit User s Manual Figure 2 2 PC to DK58113 SPI Connection Summary NI Cable 6001 II USB 8452 USB to NI Module Module Cable DK58113 Card The major components required for PC to DK58113 SPI communications are listed below Part Item number Manufacturer Description J13 to SPI interface module Cable 6001 01 PMD This cable interconnects the National Cable Instruments USB 8452 module to the DK58113
26. adrature encoders 37 inputs Hall 38 limit and home 38 main encoder 37 L limit inputs 38 M Magellan family 8 55 Mbo main encoder input circuits 38 T MOSFET power stages 28 33 temperature sensors 33 Motor Feedback 37 motor feedback 37 U undervoltage condition and threshold 35 N user settable components 43 networking configurations 26 noise R C lowpass filter and 38 0 operating temperature 33 overtemperature protection 33 P ports communication 26 power applying 19 product summary 8 PWM Power Stage 28 Q quadrature incremental encoders 37 R R C lowpass filter bandwidth Enable and FaultOut signals 40 Hall inputs 38 limit and home inputs 38 RS 232 485 connector communication ports 26 S safety interlocks 40 signals Enable 40 AxisIn and AxisOut 39 FaultOut 40 single ended 37 sinusoidal commutation 38 SPI bus 33 step motors power stage configuration 28 synch I O connectors 41 synchronizing multiple boards 41 56 MC58113 Developer s Kit User s Manual For additional information or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com MC58113 Developer s Kit User s Manual 57 58 This page intentionally left blank MC58113 Developer s Kit User s Manual
27. ajor sections of the DK58113 card For a complete description of the MC58113 IC see the Magellan Motion Control IC User s Guide MC58113 Electrical Specifications and the Magellan Motion Control IC Programmers Command Reference MC58113 Developer s Kit User s Manual 25 Figure 2 1 DK58113 Block Diagram 26 External Shunt Resistor amp Diode HV Input 5V Input _ Optional Host Communications Enable Axisin AxisOut FaultOut DC Bus Current amp Voltage Bus Monitoring Switching O Motor Voltage Management Amplifier pe upply CAN 2 0B Interface RS232 485 Interface SPI Serial Peripheral Interface a Digital Signal Conditioning Analog Signal Conditioning Temperature sense PWM Commands Curent Feedback Pulse amp Direction MCSE 13 SPI Atlas IC Quadrature Signal Tr s NV RAM DE Conditioning e Buffer Digital Signal Conditioning Motor Drive Output Remote Amplifier Atlas Digital Amplifier Main Encoder Quad A B Index Auxillary Encoder Quad A B Index Hall Sensors Limits Homes Status LEDs Synch 2 2 Communication Ports 2 2 1 RS 232 485 The DK58113 supports both the RS 232 and RS 485 protocols Jumper JP4 is used to select between RS 232 and RS 485 operation For RS 232 JP4 is connected at 1 2 and for RS 485 operation JP4 is connected at 2 3 The DK58113 supports point to point and multi drop networking in RS 485 and point to point only in
28. and C Here is more information on each of these software packages MC58113 Developer s Kit User s Manual Installation 4 1 6 1 Pro Motion Pro Motion is a sophisticated easy to use exerciser program which allows all MC58113 parameters to be set and or viewed and allows all features to be exercised Pro Motion features include e Motion oscilloscope graphically displays processor parameters in real time e AxisWizard to automate axis setup and configuration e Position loop and current loop auto tuning e Project window for accessing motion resources and connections e Ability to save and load settings e Distance time and electrical units conversion Frequency sweep and bode plot analysis tools e Motor specific parameter setup e Axis shuttle performs continuous back and forth motion between two positions e C Motion Engine monitor debug window e C Motion Engine user application code download Pro Motion is described in the Pro Motion Users Guide 1 6 2 C Mlotion C Motion provides a convenient set of callable routines comprising the code required for controlling the Magellan Motion Control IC whether running on a separate host computer such as a PC or running on a C Motion Engine C Motion includes the following features e Magellan axis virtualization e Ability to communicate to multiple PMD motion cards or modules e Ability to communicate via PCIbus PC 104bus serial CANbus Ethernet or SPI Serial Peripheral
29. are designed for use in applications employing the CAN serial communication physical layer in accordance with the ISO11898 standard The transceiver provides differential transmit and differential receive capability to from a CAN controller at speeds up to 1 Mbps There are two connectors J6 and J7 providing electrically identical signals These two connectors are designed to make it easy to connect the DK58113 card in a daisy chain configuration Termination at each end of the cable run is MC58113 Developer s Kit User s Manual Electrical Reference 4y generally recommended unless cable lengths are very short and speed is slow ISO 11898 requires 120 Ohm termination at each end of the bus Note that it is up to the customer to verify their network topology and operating parameters The CANbus connector is a female RJ45 type connector See Section 2 2 3 CANbus on page 27 for more information on the functionality of the CANbus port The pinouts for both the J6 and J7 CAN connector are as follows Pin Signal Description J6 J7 CANbus Connectors CAN Positive CAN signal connection 2 CAN Negative CAN signal connection 3 GND Ground 4 No Connect Pass through signal 5 No Connect Pass through signal 6 No Connect Pass through signal 7 GND Ground 8 No Connect Pass through signal 3 2 9 Serial Connector J5 The Serial Connector J5 provides connections to an RS 232 or RS 485 serial port Electrica
30. c Larger motors some NEMA 23 and most NEMA 34 should be set for 20 kHz Smaller motors may use 40 or 80 kHz to maximize current control accuracy and minimize heat generation PWM Dead Time 540 nsec For correct operation of the DK581 13 s on card switching amplifier this parameter must be set to this value PWM Refresh Time 2 000 nSec To ensure sufficient time to recharge the on card amplifier s high side switches this parameter must be set to this value PWM Refresh Period 8 cycles To ensure sufficient time to recharge the on card amplifier s high side switches this parameter must be set to this value PWM Signal Sense Active High For correct operation of the on card amplifier all PWM outputs must be set to active high MC58113 Developer s Kit User s Manual Electrical Reference O Parameter Value amp Units Comments Minimum Current Read Time 2 000 nSec To ensure sufficient minimum current read time with BLDC motors this parameter must be set to this value Leg Current Conversion 733 mA count This value should be entered so that the leg current can be traced and displayed correctly in amps Brushless DC Motor Foldback This value should be entered to ensure the on card Continuous C rrent Limit 5 0 A amplifier does not operate above the maximum safe current ouput Brushless DC Motor Foldback Total This value should be entered to ensure the on card Ener
31. e following table is supplied as a reference only Label Connector Name Connector Part Number Connector Mate Jl HV Power Phoenix Contact 2 circuit pluggable terminal block p n 1924305 Phoenix Contact 2 circuit mating terminal 5 08mm pitch p n 1912401 J3 Motor Drive Phoenix Contact 5 circuit pluggable Phoenix Contact 5 circuit mating terminal block p n 1924334 terminal 5 08mm pitch p n 1912430 J8 Axis Feedback High density D sub 5 position female High density D sub 5 position male J9 Axis 2 Feedback High density D sub 5 position female High density D sub 5 position male J4 Amplifier Signal Phoenix Contact 3 circuit pluggable N A terminal blockp n 1985205 JIO SPI Atlas Bus DB 9 male DB 9 female J12 Remote Amplifier 2 by 8 un shrouded header male I Samtec socket 6 position 1 spacing spacing p n ISDM 08 Jl4 Shunt Phoenix Contact 2 circuit pluggable Phoenix Contact 2 circuit mating terminal block p n 1924305 terminal 5 08mm pitch p n 1912401 MC58113 Developer s Kit User s Manual Electrical Reference G Label Connector Name Connector Part Number Connector Mate J6 J7 CANI CAN2 RJ45 RJ45 connector plug J5 Serial DB 9 female DB 9 male Jil Host SPI 2 by 4 unshrouded header male 1 Samtec socket 8 position spacing spacing p n ISDM 04 J13 Synch 2 position unshrouded header male 1 Samtec socket 2 position spacing spacing p
32. e saved particularly the on card amplifier limits and scale factors established during Axis Wizard setup Do this by selecting File and Open Project selecting the correct file previously stored Operation of the DK58113 without proper safety settings established during Axis Wizard operation may harm the DK58113 card or the application hardware To avoid this be sure to restore saved control settings using the File Open Project menu item before operating the DK58113 card MC58113 Developer s Kit User s Manual 2 Operation A In This Chaptet DK58113 Block Diagram Communication Ports Switching Motor Amplifier Drive Protection and Control Signals DC Bus Connecting to a Remote Amplifier Connecting to an Atlas Amplifier Motor Feedback Signals Enable and FaultOut Signals Multi card Synchronization vvvvvvvvvyyv 2 1 DK58113 Block Diagram The MC58113 Developer s Kit card DK58113 provides a complete functioning MC58113 series IC exerciser and development system It directly interfaces to a host computer using serial CANBus or SPI communication and to all power and feedback signals required to drive a DC Brush Brushless DC or step motor The DK58113 incorporates several major subsystems including the MC581 13 series IC itself communications interface citcuitry a high performance MOSFET based motor amplifier a DC Bus conditioning system and various other circuitry The following sections describe these m
33. ector sources without the need for an external pull up resistor and an R C low pass filter to reject noise 5V A 4 7K 5V 3 3V A YZ 14 20 22K Hallia HalliB Hatuc gt gt 1 oT 2 8 7 10 5 6nF SN74ACT14PWRG4 74LCXS40MTC The Hall signals are only used with Brushless DC motors They are used to directly commutate the motor in 6 step commutation mode or to provide an absolute phase reference for sinusoidal commutation 2 8 3 Limit and Home Inputs The input buffer for the end of travel Limit and Home signals is shown in Figure 2 11 This circuit accepts signals in the range of 0 24 V and has TTL compatible Schmitt trigger thresholds It has a pull up to 5V to allow direct interfacing to open collector sources without the need for an external pull up resistor and a 1 3 kHz R C low pass filter to reject noise MC58113 Developer s Kit User s Manual ee 2 O Figure 2 11 5V A Limit and Home Input Circuits 4 7K 5V 3 3V Z 22K 1 PosLim1 NegLim1 Homel gt _ mi S 6nF T 74LCX540MTC 2 8 4 Axisln and AxisOut Signals The input buffer for the AxisIn signal is shown in Figure 2 12 This circuit accepts signals in the range of 0 24 V and has TTL compatible Schmitt trigger thresholds It has a pull up to 5V to allow direct interfacing to open collector sources without the need for an external pull up resistor and a 13 kHz R C low pass filter to reject noise a Figure 2 12 AxisIn
34. eries including the MC58113 MC53113 MC51113 and MC54113 ICs The term DK58113 may be used to mean to all members of the DKs including the DK58113 DK53113 DK51113 and DK54113 developer kits MC58113 Developer s Kit User s Manual 7 4 Installation 1 2 Miagellan Motion Control IC Family Overview The following table presents a feature summary of the products in the Magellan Motion Control IC product family MC58000 Series MC55000 Series MC58113 Series Except MC 58113 of axes 1 2 3 4 1 2 3 4 primary amp aux channel encoder input Motor types supported DC brush brushless DC Step motor DC brush brushless DC step motor step motor Output format SPI Atlas PWM DAC Pulse amp direction SPI Atlas PWM DAC Pulse amp direction Pulse amp direction Parallel host communication v Serial host communication v CAN 2 0B host communication v SPI host communication Incremental encoder input Parallel word device input Index amp Home signals Position capture Directional limit switches PWM output Parallel DAC output SPI Atlas interface SPI DAC output Pulse amp direction output Digital current control Field oriented control Under overvoltage sense 1 T Current foldback DC Bus shunt resistor control Overtemperature sense Short circuit sense Ground fault detection Trapezoidal profiling Velocity profiling S curve profiling Electronic gearing On the fly changes PID position serv
35. gy Limit 125 A2sec amplifier does not operate above the maximum safe current ouput This value should be entered to ensure the on card FERA A a 5 0 A amplifier does not operate above the maximum safe current ouput DC Brush Motor Foldback Total This value should be entered to ensure the on card Energy Limit 125 A2sec amplifier does not operate above the maximum safe current ouput Step Motor Foldback Continuous This value should be entered to ensure the on card C rrent Lirit 5 0 A amplifier does not operate above the maximum safe current ouput i This value should be entered to ensure the on card S foldback Maximum 125 A2sec amplifier does not operate above the maximum safe current ouput Temperature Limit 75 0 C This value should be entered to ensure the on card amplifier does not operate above the maximum safe current ouput Bus Current Supply Conversion 505 mA count This value should be entered so that the DC bus current supply can be traced and displayed correctly in amps Bus Current Supply Limit 20 0 A This value should be entered to ensure safe operation of the DK581 13 Bus Current Return Limit 20 0 A This value should be entered to ensure safe operation of the DK58113 Bus Voltage Display 966 mV count This value should be entered so that the DC bus voltage can be traced and displayed correctly in volts Undervoltage Limit 10 0 V This value should be entered to ensure safe operation of t
36. he DK581 13 Overvoltage Limit 60 0 V This value should be entered to ensure safe operation of the DK581 13 MC58113 Developer s Kit User s Manual 53 Ly Electrical Reference This page intentionally left blank 54 MC58113 Developer s Kit User s Manual Index Symbols Enable and FaultOut Signals 40 Enable signal 40 Numerics 3 phase bridge 28 A AxisIn and AxisOut signals 39 B Block Diagram 25 brushless DC motors 22 Hall signals 38 power stage configuration 28 C circuits AxisIn 39 AxisOut 39 FaultOut 41 Hall input 38 limit and home input 38 main encoder input 37 38 Comm ports 26 communication ports 26 RS 232 485 version 26 communications ports 26 commutation 22 brushless DC motors 22 commutation sinusoidal 38 components table front of board 14 configuration storage on IC NVRAM 42 connections communications 19 motor power 19 connectors feedback 37 D DC brush motors power stage configuration 28 MC58113 Developer s Kit User s Manual DC bus current monitoring 34 overvoltage and undervoltage 35 diagrams AxisIn circuit 39 FaultOut circuit 41 main encoder input circuits 38 differential encoder signals 37 E encoder incremental quadrature 37 main 37 F FaultOut signal 40 feedback connector 37 G ground fault 34 H Hall signals 37 38 H Bridge 28 home inputs 38 l T O connector signals 40 It current foldback energy limit 32 incremental qu
37. hics loads into the Project window to the left as shown in the following figure Untitled Pro Motion File View Actions Help es pd OPEN SAVE SAVEAS PROJECT DEVICE AXIS STATUS SCOPE EMO MONITOR DRIVE ica RESET STOP DEV AXIS E7 S few fpfvew fee mee Ga fd Eae ol o oject E Pr alx ESSERE g Host Motor type A Position Curent Motor A F Serial COM2 57600 n 8 1 Iraiectow gt oop Loop Output Psl F mcss113 pm A E Motor F Fault gt f aris 1 Homing Control Phasing Parameters Axis 2 Aux Encoder t Atlas Position T NVRAM Feedback oe Brushless DC 3 phase v Pro Motion functions Breakpoints Axis 1 0 coe Units Operating Mode Limit Switches Tracking aizi For a list of commands press Ta Axis 1 gt Axis gt Commanded position e Actual position _ SI Position error SSS Capture position R Active motor command Eo For example you will see the MC58113 IC name next to an icon of a card and below that you see an axis icon Highlighting single clicking either the card icon or the axis icons with the mouse is used to select specific cards or axes and is useful later on in the first time system verification If serial communications are not correctly established a message appears indicating that an error has occurred If this is the case recheck your connections and repeat from step 1 1 14 2 Initializing Mot
38. ied The DK58113 s temperature sensor is located on the DK581 13 card and therefore will not function correctly when a remote amplifier is used All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information MC58113 Developer s Kit User s Manual 33 D 2 5 DC Bus HV Figure 2 6 DC Bus Shunt Power Resistor amp Diode Monitoring via J14 Circuitry BusVoltage Analog Signal Conditioning BusCurrentSupply Analog Signal Conditioning Switching Motor Bridge Analog Signal lt gt Leg Current Conditioning S Sensors Figure 2 6 shows the DC bus monitoring circuitry used with the DK58113 board This circuitry is designed to work with the MC58113 s DC bus management and protection logic These functions include overcurrent protection over and under voltage detection ground fault detection and shunt resistor control 2 5 1 DC Bus Current Monitoring DK58113 monitors both the positive and negative DC bus current to detect overcurrent conditions including line to line line to power supply and line to ground short circuits 2 5 1 1 DC Bus Current Monitoring Scale Values The following DC bus current monitoring scale values for the DK58113 card are required to correctly operate the DC bus current monitoring functions Parameter Value amp Units C
39. ier Power Power Signal Fault Enabled Indicator Connector Connector Indicator Indicator There are 14 user accessible connectors on the DK58113 card See Figure 3 1 for the specific locations of the con nectors on the card The connectors and their functions are outlined in the following table Connector Connector Name Description HV Power Jl HV power to the card Accepts DC supply in the range of 12 to 56 VDC Motor Drive J3 Motor drive signals that connect directly to the motor s coil connections Axis Feedback J8 Primary axis feedback signals such as Quad A B Index Hall A B C PosLim and NegLim Axis 2 Feedback J9 Auxiliary axis feedback signals such as Quad A B and Index as well as AxisIn and AxisOut signals for the pri mary axis Amplifier Signal J4 Provides Enable input and FaultOut output signals to from the MC581 13 IC SPI Atlas Bus JIO Interconnect signals for SPI Atlas bus compatible amplifi ers Remote Amplifier J12 Provides signals to allow connection to a user designed external amplifier Shunt Jl4 Switched HV supply voltage that connects to an external shunt resistor or other load for controlling HV overvolt age CANI CAN2 J6 J7 Provides connections to a CAN2 0B host network Serial J5 Serial port for RS 232 or RS 485 host connections Host SPI Jil Provides host SPI Serial Peripheral Interface bus signals MC58113 Developer s Kit User s Manual Electrical Reference
40. igh side drive output for motor phase A positive coil terminal PWMLowlA Digital low side drive output for motor phase A positive coil terminal PWMHighIB Digital high side drive output for motor phase A negative coil terminal PWMLow 1B Digital low side drive output for motor phase A negative coil terminal PWMHigh1 C Digital high side drive output for motor phase B positive coil terminal PWMLowI C Digital low side drive output for motor phase B positive coil terminal PWMHigh D Digital high side drive output for motor phase B negative coil terminal PWMLow D Digital low side drive output for motor phase B negative coil terminal CurrentlA Analog input containing the current flow through the positive leg of phase A bridge Current B Analog input containing the current flow through the negative leg of phase A bridge Current C Analog input containing the current flow through the positive leg of phase B bridge Current D Analog input containing the current flow through the negative leg of phase B bridge 30 MC58113 Developer s Kit User s Manual ee 2 O 2 3 4 Amplifier Related Settings There are a number of MC58113 IC settings which are used to set or control various aspects of the DK58113 s on card switching amplifier and related current sense circuitry If a remote amplifier via the J12 connector is connected the value of these settings will likely change and if an Atlas amplifier is used other than the motor output mode these parameter
41. ion Axis The next step to verify the correct operation of the system is to initialize the axis thereby verifying correct amplifier operation encoder feedback connections if an encoder is used and other motion functions All of this can be conveniently accomplished using Pro Motion Axis Wizard function This versatile and easy to use tool initializes all supported motor types including step DC brush and brushless DC To operate the Axis Wizard 1 Select axis 1 to initialize in the Project window to the left of the screen 2 With this icon highlighted click the Axis Wizard toolbar button MC58113 Developer s Kit User s Manual 21 Installation The Axis Wizard initialization window appears Axis 1 Wizard i Welcome to the Axis Wizard E This wizard will guide you through the motor connections and parameters for an axis A description of each processor parameter can be found in the Programmer s Command Reference Select Cancel at anytime to close the wizard and disable motor f output To continue click Next 3 Click Next and follow the Axis Wizard instructions for each page of the axis initialization process A typical Axis Wizard sequence takes 5 10 minutes If you have specific questions about the Axis Wizard refer to the Pro Motion Users Guide for detailed information Important In addition to application specific parameters you will need to enter various control parameters during Axis Wi
42. ip MC58x20 100 pin TQFP MC55x20 100 pin TQFP N A MC58110 NA MC55110 NA Motion processor DK58420 DK55420 DKSI113 developer s kit p n s DK58320 DK55320 DK53113 DK58220 DK55220 DK54113 DK58120 DK55120 DK581 13 DK58110 DK55110 1 3 How To Order The following provides ordering information for MC58113 series ICs as well as developet s kits STT Figure 1 1 MC58113 Series ICs and Development Motor Type Version k 1 DC Brush STD Standard Kit Part 3 Brushless DC X Y Specific Numbering 4 Step Motor 8 Multi motor version contact PMD DK5 113 Motor Type Version 1 DC Brush STD Standard 3 Brushless DC X Y Specific 4 Step Motor version contact PMD 8 Multi motor 1 4 Developer s Kit Components List The MC58113 Motion Control IC Developer s Kit contains the following components e DK58113 Developer s Kit card e Cable set and pin breakout mini cards for various card connectors e Magellan SDK CD ROM containing C Motion and documentation in PDF format e Pro Motion CD ROM MC58113 Developer s Kit User s Manual 9 4 Installation 10 Documentation MC 58113 Developers Kit Manual Magellan Motion Control IC Users Guide Magellan Motion Control IC Programmers Command Reference MC58113 Electrical Specifications Pro Motion User s Guide If any of these components are missing please contact your PMD representative 1 5 DK58113 Card The heart of the MC58113 Motion C
43. lly these connectors provide access to the same signals however they have different physical connectors and wiring The following sections provide information for the serial connector and provide pinouts when operated in RS 232 mode or RS 485 full duplex mode Pin Connection RS 232 RS 485 Full Duplex J5 Serial Connector NC No Connect No Connect 2 SrlXmt Serial transmit output No Connect 3 SriRcv Serial receive input No Connect 4 NC No Connect No Connect 5 GND Ground Ground 6 RS 485Rcev No Connect Positive non inverting receive input 7 RS 485Rcv No Connect Negative inverting receive input 8 RS 485Xmt No Connect Positive non inverting transmit output 9 RS 485Xmt No Connect Negative inverting transmit output 3 2 10 Host SPI Connector J11 This connector provides host SPI Serial Peripheral Interface signals when the MC58113 s SPI host communication is used This connector is an unshrouded 8 position double row male header 1 spacing Pin Signal Description J11 Host SPI Connector HostSPIXmt Host SPI bus synchronous transmit signal from MC581 13 2 HostSPIRcv Host SPI bus synchronous receive signal to MC581 13 3 HostSPIClock Host SPI bus synchronous clock input 4 HostSPlEnable Host SPI bus active low enable signal input 5 Hostinterrupt Host interrupt output from MC58113 can be programmed to indicate an event requiring attention from the host MC58113 Developer s Kit U
44. loper s Kit User s Manual SV v Figure 2 15 a FaultOut Circuit Z 1 0K e Foultiut 3 a22 MMUN2216LT1G 2 Figure 2 16 Synch I O Connector to Three Cards J13 Synch Connector DK58113 Card Slave 41 Ne 2 11 On IC NVRAM Configuration Storage The MC58113 series ICs provide the ability to directly store configuration information such as gain parameters drive related safety parameters and other parameters This setup information once loaded is automatically initialized into the MC58113 s active configuration registers at each power up When used in an actual control system the NVRAM may therefore be useful to reduce or eliminate communications to the MC58113 IC during powerup See the Magellan Motion Control IC Users Guide for more information on MC58113 series ICs powerup While developing a new MC58113 based application it is not recommended that the on IC NVRAM be used to store configuration data Pro Motion can store a wide variety of configuration parameters using its Save Project and Load Project menu functions and this generally represents a more flexible and general purpose approach Nevertheless when ready MC58113 configuration parameter programming or re programming can be conveniently accomplished using Pro Motion See the Pro Motion Users Manual for details 42 MC58113 Developer s Kit User s Manual 3 Electrical Reference r In This Chapter User Settable Components Connectors Motor Connecti
45. nertia MC58113 Developer s Kit User s Manual 35 Figure 2 7 DK58113 to Remote Amplifier Card Connections 36 As shown in Figure 2 6 the MC58113 provides a shunt PWM output which in turn drives a MOSFET switch on the DK58113 card The resistor connected at J14 should have a resistance such that the current flow through the Shunt MOSFET does not exceed 10 amps For example with an HV supply of 48 Volts this means a resistance of no less than 4 8 ohms The diode which is connected in parallel to the resistor should have a voltage and current rating at least equal to those of the MOSFET For the DK58113 this means a voltage and current rating of 100 volts and 10 amps or higher Beyond this limit the actual resistance used is application specific and depends on the nature of the anticipated over voltage generating conditions the power supply used and the wattage rating of the resistor Example a shunt resistor with a resistance of 10 ohms is connected through the J4 shunt connector and a comparison value of 51 Volts and a PWM duty cycle of 75 are specified When the HV voltage exceeds 51 0 Volts HV will be connected to GND via the shunt resistor resulting in an effective average current flow of 51 0V 75 10 ohms 3 825 amps The default value of the shunt comparison mechanism is disabled To enable both a voltage comparison value and a PWM output duty cycle are specified See the Pro Motion Users Manual for details
46. o loop Dual biquad filters Dual encoder loop multi axis configurations only v NINE S NSIN S NIN INININN NSN S NENESE with Atlas with Atlas with Atlas with Atlas SISSI with Atlas with Atlas with Atlas INSIS SSS SSIS SSIS JINN NNNS SININ NSIN SNS Programmable derivative sampling time Feedforward accel amp vel Data trace diagnostics Motion error detection Axis settled indicator Analog input Programmable bit output Software invertible signals User defined I O Internal Trace Buffer External RAM support Multi chip synchronization v with encoder with encoder INISI SSIS S NINERS ISISI S lt S 8 MC58113 Developer s Kit User s Manual Installation 4 MC58000 Series Except MC58113 MC55000 Series MC58113 Series Chipset configurations MC58420 4 axes 2 ICs MC58320 3 axes 2 ICs MC58220 2 axes 2 ICs MC58120 1 axis 2 ICs MC581 10 1 axis IC MC55420 4 axes 2 ICs MC55320 3 axes 2 ICs MC55220 2 axes 2 ICs MC55120 I axis 2 ICs MC55110 I axis IC MC51113 1 axis IC MC53113 1 axis IC MC54113 1 axis IC MC58113 1 axis IC IC Package CP chip MC58x20 144 pin TQFP MC55x20 144 pin TQFP 100 pin TQFP MC58110 144 pin TQFP MC55110 144 pin TQFP IC Package IO ch
47. omments Bus current supply 505 mA count This value should be entered so that the DC bus current conversion supply can be traced and displayed correctly in amps Leg current return 733 mA count This value should be entered so that the DC bus current conversion return can be traced and displayed correctly in amps 34 MC58113 Developer s Kit User s Manual 2 5 1 2 DC Bus Current Limits The following MC58113 DC bus current limits are required to safely operate the DK58113 card Parameter Value amp Units Comments Bus Current Supply Limit 20 0 A This value should be entered to ensure safe operation of the DK581 13 Bus Current Return Limit 20 0 A This value should be entered to ensure safe operation of the DK581 13 Note that these values are designed to protect the DK58113 circuitry Lower values may be used to protect the motor If an Atlas amplifier is used these DC bus current scale and limit values do not need to be set DC bus current monitoring functions will not work when a remote amplifier is used All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information 2 5 2 DC Bus Voltage Monitoring DK58113 monitors the main DC bus voltage for overvoltage and undervoltage conditions These thresholds are user settable within the voltage operating range of
48. omputer s CD ROM drive 4 Follow the on screen prompts to complete the installation process Once installation of Pro Motion is complete insert the Magellan SDK disk and follow the same procedure above as for Pro Motion installation Upon completion of the installation process for Pro Motion and SDK the following components will be installed e Pro Motion an application for communicating to and exercising the motion processor Refer to the Pro Motion Users Guide for operating instructions MC58113 Developer s Kit User s Manual 13 4 Installation Figure 1 2 DK58113 Card Components Location 14 1 11 e C Motion source code which may be used for developing motion applications in C C based on the Magellan Motion Control IC e DLLs and example source code which may be used for developing motion applications in Visual Basic ot C based on the MC58113 PDF versions of the MC58113 Developers Kit Users Manual MC58113 Electrical Specifications Magellan Motion Control IC Programmers Command Reference and Magellan Motion Control IC Users Guide 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 Preparing the Card for Installation Figure 1 2 shows the location of various on card components such as connectors and jumpers SPI Atlas Remote Amplifier 5V Power Host SPI Synch Bus Connector Connec
49. on Quick Reference Absolute Maximum Ratings Environmental and Electrical Ratings DK58113 On Card Amplifier Quick Reference 3 1 User Settable Components The following table details the available DK58113 jumper settings which are the DK58113 s only user settable hard wate components Factory Default Jumper ID Setting Setting amp Description JPI JP2 1 2 on card amplifier l 2 Installing jumpers at l 2 for JPI and JP2 configures the DK58113 for operation of the on card amplifier 2 3 Installing jumpers at 2 3 for JPI and JP2 disables the on card amplifier and configures the DK581 13 for operation with a user designed amplifier via the J12 Remote Amplifier Connector or with an Atlas DK amplifier via the J10 connector JP4 1 2 RS 232 l 2 Installing a jumper at l 2 for JP4 configures the DK581 13 for RS 232 serial operation 2 3 Installing a jumper at 2 3 for JP4 configures the DK581 13 for RS 485 serial operation MC58113 Developer s Kit User s Manual 43 Electrical Reference Figure 3 1 DK58113 Card Component Location 44 3 2 Connectors SPI Atlas Remote Amplifier 5V Power Host SPI Synch Bus Enable Jumpers Connector Connector Connector Connector Remote Amplifier Connector JP1 JP2 Axis 1 Feedback CAN Connecter Connectors RS 232 RS485 Selector A Jumper Axis 2 Feedback Serial Connector Connector J3 ACCOA Motor Drive Shunt Connector HV Amplifier Connector Amplif
50. on page 16 for a description of the available connections and options for the DK58113 card Connect the DK58113 card to the host PC via a Serial cable This is described in Section 1 12 4 Communication Connections on page 19 Once 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 14 First Time System Verification on page 19 for a description of this procedure Once these steps have been accomplished the installation is complete and the card is ready for operation 12 MC58113 Developer s Kit User s Manual Installation 4 1 9 Recommended Hardware To install a DK58113 card the following hardware is recommended Note that this list assumes that the on card amplifier will be used For installation of a user provided off card amplifier see Section 2 6 Connecting to a Remote Amplifier on page 36 e Intel or compatible processor Pentium or better 300MB of available disk space 256 MB of available RAM and a CD ROM drive The supported PC operating systems are Windows XP Vista Windows 7 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 a requirement for DC brush motors and is normally used with brushless DC motors although not required because Hall sensors can be used for the posi
51. onnections to various motor feedback signals The Feedback Connectors use 15 pin high density DB connectors which can be connected to the PMD MC HW 05 breakout board accessories MC58113 Developer s Kit User s Manual 45 4 Electrical Reference 3 2 3 1 Axis 1 Feedback Connector Pin Connection Description J8 Axis1 Feedback Connector QuadAI Axis Quadrature A encoder input 2 QuadAl Axis Quadrature A encoder input 3 QuadB I Axis Quadrature B encoder input 4 QuacBl Axis Quadrature B encoder input 5 GND Ground 6 Index Axis Index input 7 Index Axis Index input 8 Halll A Axis Hall A input 9 Halll B Axis Hall B input I0 HalllC Axis Hall C input II Homel Axis Home input 12 PosLim Axis Positive direction limit switch input 13 NegLiml Axis Negative direction limit switch input 14 Vec 5V output I5 NC No Connect 3 2 3 2 Axis 2 Feedback Connector Axis 2 is used to provide auxiliary encoder input for the MC58113 s Electronic gear mode or with dual loop servo control mode In addition this connector contains the AxisIn and AxisOut signals for Axis 1 as well as a Home signal for axis 2 Pin Connection Description J9 Axis2 Feedback Connector QuadA2 Axis 2 Quadrature A encoder input 2 QuadA2 Axis 2 Quadrature A encoder input 3 QuadB2 Axis 2 Quadrature B encoder input 4 QuadB2 A
52. ontrol IC Developer s Kit is the DK58113 printed circuit card that contains interface and amplifier circutiry to allow various features of the MC58113 family ICs to be accessed Here is a summary of the features provided by the DK58113 card e Supports step DC Brush and Brushless DC motors e IC socket allows MC58113s to be swapped out for testing or user configuration storage e High performance on card amplifier with current feedback supports all motor types Interfaces to external Atlas user designed or pulse amp direction amplifier RS 232 RS 485 CANbus and SPI Serial Peripheral Interface host communications Single DC voltage supply Primary and auxiliary axis quadrature signal input with Index and Home capture e Hall sensor Home limits AxisIn and AxisOut signals e Support for overtemperature overcurrent over and undervoltage sense e High current external shunt resistor support e Pulse amp Direction signals with AtRest for use with external step motor amplifiers Compact 3 3 x 4 7 standalone form factor 8 4 cm x 11 9 cm 1 6 Software Three major software packages are provided with the DK58113 Pro Motion an interactive Windows based exerciser amp software development tool C Motion a C language library that allows you to create motion applications using the C programming language VB Motion DLLs and source code that let you create motion applications using net languages for example Visual Basic
53. operate above specific selected continuous current ratings When the current loop is enabled and the rt energy limit is exceeded the MC58113 will automatically fold back the phase currents to a user programmable continuous current limit value Alternatively the MC58113 can be configured to fault and disable the output stage when the rt energy limit is exceeded See the Magellan Motion Control IC Users Guide for details 2 4 1 1 It Limits To safely operate the on card DK58113 amplifier it is necessary to specify T t limits Value amp Parameter Units Comments Brushless DC motor Foldback 50A This value should be entered to ensure the on card amplifier Continuous Current Limit does not operate above the maximum safe current output Brushless DC motor Foldback Total 2 This value should be entered to ensure the on card amplifier E Pod 125 A sec nergy Limit does not operate above the maximum safe current output DC Brush motor Foldback 50A This value should be entered to ensure the on card amplifier Continuous DC Current Limit i does not operate above the maximum safe current output DC Brush motor Foldback Total 2 This value should be entered to ensure the on card amplifier E AS 125 A sec nergy Limit does not operate above the maximum safe current output Step motor Foldback Continuous 50A This value should be entered to ensure the on card amplifier Current Limit does not operate above the maximum safe current output
54. or distance and seconds for time This means the default units for velocity are counts sec and the default units for acceleration and deceleration are counts sec2 So for a motor that has 2 000 counts per rotation to perform a symmetric trapezoidal move of 25 rotations with a top speed of 5 rotations per second and with an acceleration time of two seconds the parameters in the Trajectory dialog box would be set as follows Deceleration 5 000 counts sec Acceleration 5 000 counts sec2 Velocity 10 000 counts sec Position 0 counts Position 2 50 000 counts 4 Click Go and confirm that the motion occurred in a stable and controlled fashion Congratulations First time system verification is now complete 1 14 4 Restarting Pro Motion After first time verification is complete you may continue in the same Pro Motion session to exercise your motion system or optimize control parameters as desired Alternatively whether immediately after additional interactions with Pro Motion you may wish to exit Pro Motion for restart at a later time MC58113 Developer s Kit User s Manual 23 24 Installation If you have changed additional control parameters and would like to save these parameters use File and Save Project to update the stored configuration file At this time you may update your existing project file or provide a new one When restarting Pro Motion it is important that you restore the configuration that you hav
55. r PWMLow1C Phase CurrentiC Analog Conditioning 28 MC58113 Developer s Kit User s Manual ee 2 O As shown in the table below six PWM output signals and three analog feedback signals interface between the MC58113 IC and the DK58113 s switching amplifier MC58113 signal Description PWMHighlA Digital high side drive output for motor phase A PWMLowlA Digital low side drive output for motor phase A PWMHighIB Digital high side drive output for motor phase B PWMLow IB Digital low side drive output for motor phase B PWMHigh IC Digital high side drive output for motor phase C PWMLowlIC Digital low side drive output for motor phase C CurrentlA Analog input containing the current flow through the low side of the switching bridge for phase A Current B Analog input containing the current flow through the low side of the switching bridge for phase B Current C Analog input containing the current flow through the low side of the switching bridge for phase C 2 3 2 DC Brush Motor Drive Figure 2 4 shows the arrangement of the DK58113 s amplifier stage when the 51113 IC is used or when the MC58113 IC is used with the DC Brush motor type selected Figure 2 4 PWMLow1B DC Brush z Pre Motor Bridge PWMHigh1A Configuration PWMLow1A MC58113 or MC51113 CurrentiA Analog Analog Conditioning Conditioning Current1B As shown in the table below four PWM output
56. r This cable connects to the card s CANbus connector and has RJ45 connectors on both ends MC HW 05 DB 15 breakout interconnect This module provides convenient jack screw type terminators for the 5 pin axis connectors Two units included Adapt USB232 01 R This adapter provides USB to serial conversion It is useful for connecting to the DB 9 serial port from a USB port CONN O01 22 11 Power amp shunt connector jack screw terminals This two pin plug provides convenient jack screw type terminals for the high current terminal block header power amp shunt resistor connectors Two units included CONN O1I21 11 Motor connector jackscrew terminals This five pin plug provides convenient jack screw type terminals for the high current terminal block header motor connector If for whatever reason you need to order more of these accessories refer to the part numbers above and contact your PMD representative 1 8 Installation Overview Before using the card the software must be installed See Section 1 10 Software Installation on page 13 for instructions on installing the software For a normal installation of the DK58113 card you will need to configure the card See Section 1 11 Preparing the Card for Installation on page 14 for a description of configuring the card Next connect the system s motors encoder s and sensors to operate the motion hardware See Section 1 12 Connection Summary
57. r purpose PMD 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 be fore placing orders to verify the performance capabilities of the products being purchased All products are sold sub ject 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 PMD products are not designed approved or warranted for use in any application where failure of the PMD product could result in death personal injury or significant property or environmental damage each an Unauthorized Ap plication 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 PMD product in such a system would not be warranted or approved by PMD By using any PMD product in connection with an Unauthorized Application the customer agrees to defend indem nify and hold harmless PMD 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 Damag es arising out of or relating to such
58. rushless Overview Connector DC Motor Motor A Ni Serial 1 CANbus MC58113 Brushless Motor B j SPI or DE Host 1 0 MC53113 Amplifier Motor C Hall Sensor Feedback Axis 1 Home limits and Encoder Feedback Feedback Connector Figure 1 4 Amplifier HV Power g Signal Connector Connector DC Brush Enable HV GND Motor Connection Motor Overview Drive Connector DC Brush Motor Serial Motor A S CANbus MC58113 DC SPI or Brush i Host I O 1 g MC51113 Amplifier Motor B Home limits and Encoder Feedback Axis 1 Feedback Connector 16 MC58113 Developer s Kit User s Manual Installation Amplifier Motor Power Figure 1 5 Signal Connector Connector s 7 Enable HV GND tep Motor Motor Connection Drive Connector Overview Motor A Be PR 1 2 Phase i Step 1 Sana Motor 7 CANbus MC58113 Step Motor Motor B Mi 7 SPI or Host I O MC54113 Amplifier Axis 1 Feedback Connector Home Limits and Optional Encoder Feedback Figures 1 3 through 1 5 provide general connection overviews for Brushless DC DC Brush and step motors You will need to connect signals on various connectors to properly install the DK58113 card with the attached motor The following three sections detail how this should be done 1 12 1 Axis Feedback Connections The following table summarizes the Axis signal connections to the DK58113 All connections are made through the Axis Feedback Connector for axis
59. s do not need to be specified The following table shows the default values and recommended or required settings for amplifier related parameters Parameter Value amp Units Comment Motor Output Mode PWM High Low Set the motor output mode to PWM High Low for operation with the on card amplifier For remote amplifier operation PWM High Low 50 50 PWM or sign magnitude PWM may be selected SPI Atlas is selected for use with an off card Atlas Digital Amplifier Pulse amp Direction is selected for use with an off card step motor amplifier supporting those input signals PWM Switching Frequency 20 kHz This setting is motor specific Higher inductance motors should be set for 20 kHz Lower inductance motors may use 40 or 80 kHz to reduce current ripple and minimize heat generation PWM Dead Time 540 nSec For correct operation of the DK58113 s on card switching amplifier this parameter must be set to this value PWM Refresh Time 2 000 nSec To ensure sufficient time to recharge the on card amplifier s high side switches this parameter must be set to this value PWM Refresh Period 8 cycles To ensure sufficient time to recharge the on card amplifier s high side switches this parameter must be set to this value PWM Signal Sense Active High For correct operation of the on card amplifier all PWM outputs must be set to active high Minimum Current Read Time 2 000 nSec To ensure sufficient minimum current read time with
60. ser s Manual 49 4 Electrical Reference 50 Pin Signal Description 6 HostSPIStatus This signal indicates when an SPI response is available 7 GND Ground Reset Active low reset signal for MC581 13 IC 3 2 11 Synch Connector J13 This connector provides a synch signal connection which can be used to synchronize the MC58113 with external controllers including other MC58113s This connector is an unshrouded 2 position double row male header 1 spacing Pin Signal Description J13 Synch Connector l Synch This pin inputs or outputs a synchronization signal that can be used to synchronize the loop rates of multiple MC581 13s with each other or with another external source 2 GND Ground 3 2 12 5V Connector J2 This connector provides the DK58113 card with power to operate the on card logic whenever HV power J1 is not provided Note that 5V should not be provided to the card when HV power is provided Connecting both power sources HV as well as 5V at the same time may result in incorrect operation or damage to the DK58113 card The on card switching amplifier is not operable when only 5V power is provided The primary use of this 5V power input is when an external amplifier is used such that on card amplification is not needed Pin Signal Description J2 5V Connector l 5V 5 volts 2 5V 5 volts 3 GND Ground 4 GND Ground 3 2 13 Connector Parts Reference Th
61. sssecssscesseccssecessccensecssscesssecssseceseessneceseeessees 1 11 Preparing the Card for Installation sssssssssssssseccssecssscesssccsseccsseccsscessscesssscssscceseeesneeesneees TAZ Connection SUMMA Yoi a a a E E N E R TTI Applying POWER penginsanan i ieS 1 14 First Time System Verification ceessssssssscssecsssscsssecsscesscessscesseccssecesueessccessccesneessneceseeeseees yam 0 1 o ee 2 1 DK58113 Block Diagram essessssecsssssseccssesseccsecsseccsccsnccesecssecesecssccesccsnecsscesscenscessecescesscensecneesaes 2 2 Communication Ports issii ea onas soo ins in i i sss 2 3 Switching Motor Amplifier ccsssscssssccssecsssecsssccsscscsssecsneecsnecessccsseccsscecsseceeseessseessneceseecsneeets 2 4 Drive Protection and Control Signals ou essssssssssesesssececsseescnseesessseecsnsesenseescnneeecnneeseesees 25 DE Busnois S a S A R ductal N E AA AAE 2 6 Connecting to a Remote Amplifier 2 7 Connecting to an Atlas Amplifier 2 8 Motor Feedback Signals 2 9 Enable and FaultOut Signals 2 10 Multi card Synchronization 2 11 On IC NVRAM Configuration Storage 3 Electrical Reference 3 1 User Settable COMPONENTS uu cessssssnsscseecnccseccnsceseccnscessecnscensccssceusecssecssecssccusecssecusecssceseenseeraes 32 COMMECCOMS anilar erer oha senes Sorana cerguss ona STE eenaa sota aei enaos 3 3 Motor Connection Quick Reference 3 4 Absolute Maximum Ratings
62. t be safe for your system and it is up to the user to determine if and when they should be used 4 When completed you will get to a screen called Completing the Axis Wizard Click Finish with the Save settings to file checkbox checked You will now be prompted to specify a name of a project file Choose a name that is covenient to you and select OK to store the configuration established during the Axis Wizard setup MC58113 Developer s Kit User s Manual Installation 4 1 14 3 Performing a Simple Trajectory Move The last step in first time system verification is to perform a simple move for the axis To perform a simple move 1 Click the Trajectory button in the Axis Control window The Trajectory dialog box appears Trajectory Prodigy CME PR1358420 Axis 1 Profile mode Trapezoidal Trajectory parameters Deceleration 10000 5 counts sec Acceleration 10000 counts sec Velocity 1000 00 3 counts sec Motion Shuttle mode Position 1 0 counts Single move C Manual cas ea Automatic Postion 2 1000 counts Dwell 0 2 a seconds Close 2 Inthe Profile mode list select Trapezoidal 3 Enter motion profiles for deceleration acceleration velocity and destination position Position 1 that are safe for your system and will demonstrate proper motion Pro Motion provides various selectable units for distance and time but defaults to units of encoder counts or i usteps for step motors f
63. tal outputs drive capacity Output source current 4mA sinking current 100mA CAN communications 2 0B compliant non isolated Mbps Serial communications RS 232 signaling or RS 485 Full or Half Duplex data only Current rating at 25 C ambient and with 110 CEM air flow on card Significantly higher currents are possible with additional heat sinking Contact your PMD representative for details 3 6 DK58113 On Card Amplifier Quick Reference The DK58113 comes with a standard MC58113 IC and is thus not tailored for the amplifier and safety related circuitry located on the DK58113 card Therefore to use the MC58113 DK58113 circuitry safely and to view results conveniently via Pro Motion you will need to set various limits and conversion constants These parameters are generally entered when using Pro Motion s Axis Wizard setup sequence however they are also useful if you decide to write your own software that operates the DK58113 card Parameter Value amp Units Comments Motor Output Mode PWM High Low Set the motor output mode to PWM High Low for operation with the on card amplifier For remote amplifier control operation PWM High Low 50 50 PWM or sign magnitude PWM may be selected SPI Atlas is selected for use with an off card Atlas Digital Amplifier Pulse amp Direction is selected for use with an off card step motor amplifier supporting those input signals PWM Switching Frequency 20 kHz This setting is motor specifi
64. temperature Protection The DK58113 uses a temperature sensor to continuously monitor the temperature of the on card power MOSFETs 2 4 2 1 Converting Temperature Readings into Degrees C The MC58113 IC inputs temperature readings via its Temperature analog input and performs related functions such as over temperature checking without converting the readings from the attached temperature sensor into degrees C It does this by comparing temperature in units of counts meaning the numerical value of the Temperature signal converted by the MC58113 s on chip A D While using Pro Motion however it is convenient to be able to view and trace the amplifier temperature in units of degrees C This is accomplished by providing a conversion table to Pro Motion Note that use of this table is optional and is only required if display of temperature via Pro Motion is desired with units of degrees C In any case for the DK58113 the table DK58113 Temp Table txt should be selected See the Pro Motion Users Manual for more information on how to select thermistor conversion tables 2 4 2 2 Temperature Limit The following temperature limit is required to safely operate the DK58113 card Parameter Value amp Units Comments Temperature limit 75 0 C This value should be entered to ensure that the amplifier does not operate above the maximum safe temperature If an Atlas amplifier is used these temperature limit values do not need to be specif
65. the drive DC bus voltage monitoring may operate even when a remote amplifier is used as long as the HV supply is still connected to the DK58113 2 5 2 1 DC Bus Voltage Monitoring Scale Values To correctly monitor the DK58113 DC bus voltage it is necessary to know the DC bus voltage scale factor The following table provides this value Parameter Value amp Units Comments Bus Voltage Display 966 mV count This value should be entered so that the DC bus voltage can be traced and displayed correctly in volts 2 5 2 2 DC Bus Voltage Limits The following MC58113 DC bus voltage limits are required to safely operate the DK58113 card Parameter Value amp Units Comments Undervoltage Limit 10 0 V This value should be entered to ensure safe operation of the DK581 13 Overvoltage Limit 60 0 V This value should be entered to ensure safe operation of the DK581 13 Note that these values are designed to protect the DK58113 circuitry More restrictive values may be used to protect the motor All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 14 First Time System Verification on page 19 for more information 2 5 3 Shunt Resistor amp Diode J14 provides a connection for a shunt resistor and diode that may be used to regulate overvoltage conditions on the DC bus Such conditions can occur during deceleration of a motor with a large i
66. tion feedback For step motors encoders are an option e Cables as required to connect to the motor and associated motion hardware such as feedback signals home sensor and limit switches If the auxiliary axis is being used then additional cables will be used to connect to this second encoder e Power supply power cable and communication cables The DK58113 card requires only a single voltage supply The card logic and other circuitry is powered from this input voltage using an on card DC to DC converter Although the DK58113 supports serial CANbus and SPI communications for first time installation you will use the card s serial port 1 10 Software Installation Two CD ROMs comprise the software distribution for the MC58113 developer s kit All software applications are designed to work with Windows XP Vista or Windows 7 e Pro Motion The Pro Motion disk is located in its own Pro Motion box and contains the software associated with the Pro Motion Optimized Motion System Development software e Magellan SDK This disk is contains the C Motion source libraries and VB Motion Libraries To install the software 1 Insert the Pro Motion disk into the CD ROM drive of your computer If autorun is enabled the installation process will begin when the CD ROM is inserted If autorun is not enabled go to the next step 2 On the Start menu click Run 3 In the Open text box type D setup exe where D is the drive letter of your c
67. tor Connector Connector Enable Jumpers Remote Amplifier Connector Axis 1 Feedback CAN Connector Connectors RS 232 RS485 Selector Jumper Axis 2 Feedback Serial Connector Connector Motor Drive Shunt Connector HV Amplifier Connector Amplifier Power Power Signal Fault Enabled Indicator Connector Connector Indicator Indicator The following table describes these components Label Description Jl HV Power Connector J3 Motor Drive Connector J8 Axis Feedback Connector J9 Axis 2 Feedback Connector auxiliary axis J4 Amplifier Signal Connector JIO SPI Atlas Bus Connector J12 Remote Amplifier Connector Jl4 Shunt Connector J6 J7 CANI CAN2 Connectors respectively J5 Serial Connector Jul Host SPI Connector MC58113 Developer s Kit User s Manual Installation 4 Label Description J13 Synch Connector J2 5V Power Connector DI D2 D3 Power fault and amplifier enabled LED indicators respectively JPI JP2 Remote amplifier enable jumpers JP4 RS 232 RS 485 selector jumper There are no jumper changes that need to be made to the card The DK58113 comes factory configured to be compatible with the first time installation instructions contained in this chapter However for reference the table below shows the available jumper settings of the DK58113 card Factory Default Jumper ID Setting Setting amp Description JPI JP2 1 2 on card
68. w access to these signals making it easy to for example connect the GND signal to the Enable signal with a short wire Pin Signal Description J4 Amplifier Signal Connector Enable Active low Enable digital input signal FaultOut Active high digital FaultOut output signal 3 GND Ground SPI This connector is comp 3 2 5 Atlas Bus Connector J10 atible with the Atlas DK system of cards although only one axis is supported See the A as Digital Amplifier User s Manual for more information This connector is a male DB 9 connector Pin Signal Description J4 SPI Atlas Bus Connector NC no connect 2 NC no connect 3 Shield Cable Shield Connection 4 GND Ground 5 AmpSPIRcv AmplifierSPIRcv signal to MC581 13 6 AmpSPlEnable AmplifierSPlEnable signal from MC581 13 MC58113 Developer s Kit User s Manual 47 4 Electrical Reference 48 Pin Signal Description 7 NC no connect AmpSPIClock AmplifierSPIClock signal from MC581 13 9 AmpSP Xmt AmplifierSPIXmt signal from MC581 13 3 2 6 Remote Amplifier Connector J12 This connector provides signals that allow an external switching amplifier to be connected to the DK58113 This connector is not used if the on card amplifier is used or if an Atlas amplifier is used If a remote amplifier is used jumpers JP1 and JP2 must be set to the 2 3 position In addition it is not necessary to provide HV power to the card only
69. xis 2 Quadrature B encoder input 5 GND Ground 6 Index2 Axis 2 Index input 7 Index2 Axis 2 Index input 8 NC no connect 9 NC no connect 10 NC no connect II Home2 Axis 2 Home input 12 Axisin Axis Axisin signal input 13 AxisOut Axis AxisOut signal output 14 Vee 5V output I5 GND Ground 3 2 3 3 Notes on Encoder Connections Encoder inputs may be connected differentially with two wires for QuadA QuadB and Index signals 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 46 MC58113 Developer s Kit User s Manual Electrical Reference 4y The following tables show this Encoder connections when using differential encoder input J8 Axis 1 J9 Axis 2 Feedback Feedback Signal Connector Connector QuadAn J8 I J9 1 QuadAn J8 2 J9 2 QuadBn J8 3 J9 3 QuadBn J8 4 J9 4 Indexn J8 6 J9 6 Indexn J8 7 J9 7 Vcc J8 14 J9 14 GND J8 5 J9 5 Encoder connections when using single ended encoder input J8 Axis 1 J9 Axis 2 Feedback Feedback Signal Connector Connector QuadAn J8 1 J9 1 QuadBn J8 3 J9 3 Indexn J8 6 J9 6 Vcc J8 14 J9 14 GND J8 5 J9 5 3 2 4 Amplifier Signal Connector J4 The Amplifier Signal Connector provides an Enable input to the MC58113 IC as well as the FaultOut from the MC58113 This connector provides convenient jack scre
70. zard setup to safely control the card Refer to Section 3 6 DK58113 On Card Amplifier Quick Reference on page 52 of this manual for a list of these required settings Upon a normal completion of the AxisWizard the axis will be ready to make a controlled move For step motors this means the pulse amp direction connections ate working properly and for servo motors this means the encoder and amplifiers connections have been validated and stable but not necessarily optimal see caution below for more information servo tuning parameters have been loaded into the catd s MC58113 IC Depending on the signals connected this may also mean that limit switches and other hardware connections are functioning properly The most common reasons for the Axis Wizard to not complete normally are an inability to auto tune the servo motor or problems determining the correct commutation sequence for brushless DC motors Should this happen it is possible to perform a manual tuning or commutation setup if desired Refer to the Pro Motion Users Guide for more information or call PMD or your local PMD representative for technical assistance The Axis Wizard auto tuning routines are designed to provide stable but not optimal parameters for motion Pro Motion provides a wealth of functions including a high speed hardware trace oscilloscope that can assist you in determining optimal parameters Values provided by the Axis Wizard during auto tuning may or may no

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