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Prodigy /CME Machine-Controller

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1. 5 1 20 a T o Jo oeo P 00 8X 13 3 2 saree fo CS Tok w ee oS a BS 5 pers Pade ow Qo sea sass ges Sao Be 36 1 f 1 42 O 17 8 70 f 0 TE 0 j DIMENSION 125 3 4 93 47 8 OVERALL 1 88 DIMENSION gt gh 124 2 7 4 88 an BOARD MIN DIMENSION CLEARANCE Prodigy CME Machine Controller Card User s Guide Electrical Reference 4y 3 8 L Bracket Mechanical Dimensions 7 6 8X M3X0 5 6H aa BA Figure 3 3 1 ye o L Bracket Base n Mechanical Dimensions 113 8 4 48 I 127 5 00 65 5 e eee i e 1 F F 11 4 6 7 45 96 5 2 3 80 188 7 40 6 4 25 4 f L 203 2 8 00 La 203 2 w Figure 3 4 200 L Bracket 190 5 Ver
2. Parameter Range Default IPaddress 0 0 0 0 255 255 255 255 192 168 2 2 Netmask 0 0 0 0 255 255 255 255 255 255 255 0 Gateway 0 0 0 0 255 255 255 255 0 0 0 0 PRPListenTCPPort 0 65 535 40100 Each physical hardware device on an Ethernet network is assigned one IP address however a given IP address can have multiple ports This is useful because it allows user application code running on the C Motion Engine to open up peripheral connections using port numbers other than the PRP communications port which has a default value of 40100 thereby allowing PRP messages and application specific data in any format to co exist on the same Ethernet IP node Prodigy CME Machine Controller User s Guide 59 2 Operation 60 After a reset or at power up the card retrieves default information for the Prodigy CME Machine Controller Ethernet port from the card s non volatile RAM To change these default values see Section 2 6 6 Setting Card Defaults 2 4 3 1 TCP Connection Keep Alive All prodigy CME card TCP connections including the PRP communications port use a keep alive mechanism to detect whether a connection is still valid The keep alive mechanism is a standard part of the TCP protocol specification and is useful for preventing the prodigy CME card from leaving connections open if the host has not properly closed a connection This may occur for example if the host has been physically disconnected or other
3. The SSI clock frequency and SSI encoder resolution parameters are controlled via dedicated PIO registers for each axis See Section 2 1 2 Peripheral I O Space for the complete PIO register address map The SSI encoder word format SSI enable and SSI clock direction parameters are encoded in a single PIO register called SSI configuration There is one SSI configuration register per axis The follow table shows the bit mapping of the SSI configuration register Bit no Field name Description 0 SSI Clock direction A in this field sets the clock signal generation for output A 0 in this fields sets the clock signals to be input from an external source SSI Enable A in this field enables SSI operation A 0 disables SSI operation 2 5 SSI Encoder word format A 0 value in this four bit field sets the encoder format to binary A value in this four bit fields sets the encoder format to gray code 6 15 reserved Reserved may contain zeroes or ones Each axis allows independent control of all of these parameters and all controllable parameters are located in the Peripheral I O space The table in Section 2 1 2 Peripheral I O Space provides the addresses and format of each control register 42 Prodigy CME Machine Controller User s Guide Operation J16 J19 Figure 2 3 SSI with Controller as Clock Master SSI Data Input S e SSI Data sSiDatalnput SSI Clock ee SS Clock Outpu
4. One to four Atlas Digital Amplifiers The type of Atlas amplifier depends on the type of motor being used either DC brush brushless DC or step motor Depending on how you ordered your machine controller card the Atlases may already be installed or you may need to install them yourself Note that the machine controller card can be operated without on card Atlas amplifiers using off card module based amplifiers However for simplicity these first time installation instructions will assume the use of Atlas amplifiers One to four step DC brush or brushless DC motors These motors 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 and brushless DC motors For step motors encoder feedback is an option e Cables as required to connect to the motors you have selected Each motor axis that is driven by an Atlas amplifier requires a motor drive cable In addition feedback signals such as encoder feedback and limits are provided via a separate connector one connector per axis Power supply power cable and communication cables Each Atlas receives separate power input at the desired motor voltage The machine controller card itself is powered from the Atlas power input for axis 1 using on catd DC to DC circuitry For first time installation you will connect to both the card s serial port and Ethernet port 1 8 Software Installation Two CD R
5. 10V signals 16 signals in all When driven by the Magellan motion processor these analog outputs carry the desired voltage or torque for a given axis and are designed to interface to an off card motor amplifier Analog motor outputs are useful when on card Atlases are not being used as the amplifier for a particular axis This may be the case when the motor requires a higher voltage or current power range than the Atlases provide or when the amplifier must have particular motor specific characteristics not provided by the Atlas amplifiers To interface to a DC brush motor amplifier or to a brushless DC motor which will be commutated externally one analog output channel is used per axis Brushless DC motors that are commutated by the Magellan motion processor use two channels per axis and interface to amplifiers that support this two phase input format The following table shows how the analog outputs should be connected for each of these motor types Motor Type Axis Channel DC brush or externally commutated brushless AnalogOut DC motors AnalogOut2 AnalogOut3 AnalogOut4 AnalogOut phase A AnalogOut2 phase A AnalogOut3 phase A AnalogOut4 phase A Brushless DC two phase signal generation AnalogOut5 phase B AnalogOut6 phase B AnalogOut7 phase B AnalogOut8 phase B 2 3 4 I 2 3 4 Soyo yo e Prodigy CME Machine Controller User s Guide 47 Operation 2
6. Prodigy CMIE Machine Controller User s Guide gt PMD Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 0 July 2013 NOTICE This document contains proprietary and confidential information of Performance Motion Devices Inc and is pro tected by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2013 by Performance Motion Devices Inc ATLAS Prodigy Magellan ION Magellan ION Pro Motion C Motion and VB Motion are registered trade marks of Performance Motion Devices Inc Prodigy CME Machine Controller User s Guide Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requirements Performance Motion Devices Inc PMD reserves the rig
7. Prodigy CME Hardware Configuration of Axes Machine M standard memory config it 1 4 f Coneoler DK L enhanced memory config as 2 Magellan CP Version Type contact PMD Part Numbering Code s o a 0 3 Atlas Type Codes Teena L Bracket Atlas 1 Atlas 3 Atlas 4 0 None peti sulin Nis sa Type ei 1 Brushless DC Vertical tabs Installation Code Code Code 2 DC Brush Vertical tabs install 0 3 0 3 0 3 3 Step motor Vertical tabs S don t install 1 3 2 Developer s Kit Part Number Examples Part Number Description Atlas Units PRK33MLII 11158420 Four axis DK with standard Four brushless DC Atlas memory configuration and Atlas amplifiers mounted on full L bracket base amp vertical plate PRK33LBS 123058320 Three axis DK with enhanced Brushless DC motor Atlas memory option Card is mounted DC brush Atlas on base and shipped with Atlas Step motor Atlas units PRK33MLS222058320 Three axis with standard memory Three DC brush Atlas configuration and full L bracket units and Atlas amplifiers shipped with card 1 3 3 L Bracket Configuration As shown in Figure 1 3 an L bracket assembly is available with the machine controller card This L bracket provides a number of important functions including Increases heat sinking capacity e Provides stable base for bench top prototyping e Provides rigid support for vertical Atlas amplifiers e May be helpful for mounting the card in the destination machine hardw
8. Magellan Reset for a description of the actions and signal changes that occur after a card reset The Magellan watchdog functions by requiring a specific value 0x5562 be sent to a specific Magellan I O address 4 at intervals not exceeding 104 mSec As long as the watchdog value is written within the 104 mSec interval no reset will occur and Magellan operations will proceed normally Once enabled the watchdog mechanism cannot be stopped until a reset or power cycle occurs After powerup or Magellan reset if no command is sent to the watchdog address then the watchdog will remain disabled The watchdog is disabled by default at power up When the watchdog timer times out it also disables itself 2 2 9 1 C Motion Commands The C Motion command WritelO is used to specify a Magellan I O write operation Proper operation of the watchdog function such that a timeout is not triggered requires that a value of 0x5562 be written to the Magellan s I O address 4 no less often than once every 104 mSec 2 2 9 2 Connections amp Associated Signals Although as noted above a watchdog timeout may affect various card signals there are no specific signals associated with this function 2 2 10 Magellan Reset Although a reset occurs automatically during power up it is sometimes desirable to reset the Magellan Motion Processor explicitly through a user initiated action Note that this type of reset is different than a full card reset See Section
9. The format and protocol of this bus is detailed in the A as Digital Amplifier Complete Technical Reference however all Magellan Atlas communications are handled automatically without need for user action Many Atlas control parameters are user settable and these parameters are accessed through the Magellan motion processor The Magellan IC provides a single seamless interface to the user by determining whether commands sent to it should be routed to the Atlas amplifier or processed by the Magellan IC See Section 2 5 Atlas Amplifier Functions for more information on overall Atlas function See the Magellan Motion Processor User s Guide for information on the Magellan Atlas control architecture 2 2 7 1 C Motion Commands There are numerous Magellan C Motion commands that relate to Atlas amplifier operation Refer to the Magellan Motion Processor User s Guide for complete information 2 2 7 2 Connections amp Associated Signals There are no connections or signals associated with this function All of the signals interconnecting the Magellan motion processor and Atlas digital amplifiers are internal to the card For information on connections associated with the Atlas amplifiers see Section 2 5 Atlas Amplifier Functions 2 2 8 Analog Motor Command Output The Magellan motion processor can output a desired voltage or torque command on analog output signals There are eight channels in total with each channel consisting of 16 bit
10. motor output signal D 5 GND Ground 82 Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 3 2 4 2 Axis 2 Motor Connector Pin Connection Description J10 Motor A2 Axis 2 motor output signal A 2 Motor B2 Axis 2 motor output signal B 3 Motor C2 Axis 2 motor output signal C 4 Motor D2 Axis 2 motor output signal D 5 GND Ground 3 2 4 3 Axis 3 Motor Connector Pin Connection Description J11 Motor A3 Axis 3 motor output signal A 2 Motor B3 Axis 3 motor output signal B 3 Motor C3 Axis 3 motor output signal C 4 Motor D3 Axis 3 motor output signal D 5 GND Ground 3 2 4 4 Axis 4 Motor Connector Pin Connection Description J12 Motor A4 Axis 4 motor output signal A 2 Motor B4 Axis 4 motor output signal B 3 Motor C4 Axis 4 motor output signal C 4 Motor D4 Axis 4 motor output signal D 5 GND Ground 3 2 5 General I O Connector The General I O connector provides various I O connections to the board There are 8 channels of bi directional digital I O 4 channels of digital input 4 channels of digital output and 8 channels of differential analog inputs This is a high density DB 44 connector Pin Connection Description Pin Connection Description J13 Analogin Analog input 2 Analogin Analog input l 3 Analogin2 Analog input 2 4 Analogin2 Analog input 2 5 AGND Ground for analog signal
11. It accepts DC supply in the range of 12 56 VDC Axis 4 Power J8 Provides power to the Axis 4 Atlas unit It accepts DC supply in the range of 12 56 VDC Axis Motor Drive J9 Provides direct motor control signals for Axis I Axis 2 Motor Drive JIO Provides direct motor control signals for Axis 2 Axis 3 Motor Drive Jl Provides direct motor control signals for Axis 3 Axis 4 Motor Drive Jjl2 Provides direct motor control signals for Axis 4 General I O J13 Provides the following general I O interfaces to the board 8 channels of bi directional digital I O 4 channels of digital inputs 4 channels of digital outputs 8 channels of differential analog Amplifier I O Jl4 Provides amplifier enable outputs for 4 axes Provides 8 AnalogOutput signals for controlling external amplifiers or general purpose 10V analog output Provides AxisIn and AxisOut connections for all four axes Expansion jis Provides synchronization of multiple Prodigy Machine Controller boards within a single system Axis Feedback Jl6 Provides differential or single ended motor encoder feedback signals such as Quad A B Index Hall A B C PosLim and NegLim for Axisl Axis 2 Feedback JI7 Provides differential or single ended motor encoder feedback signals such as Quad A B Index Hall A B C PosLim and NegLim for Axis 2 Axis 3 Feedback jl8 Provides differential or single ended motor encoder feedback signals such as Quad A B Index Hall A B C PosLim an
12. Positive CAN signal connection CAN Negative CAN signal connection GND Ground No Connect Pass through signal No Connect Pass through signal No Connect GND No Connect Pass through signal Ground Pass through signal INIA WH AJ WI N Prodigy CME Machine Controller Card User s Guide 85 4 Electrical Reference 3 2 10 Ethernet Connector The Prodigy CME Machine Controller s Ethernet transceivers are designed for use with 10 100 base TX Ethernet and support both TCP and UDP protocols See Section 2 4 3 Ethernet Communications for more information on the functionality of the Ethernet port The Ethernet connector is an 8 pin female RJ45 and has two status LEDs green and amber which provide information on the status of the Ethernet link A solid green LED indicates that a link exists There is a transceiver connected on the other side of the connection and a blinking green LED means that data is being transmitted The Amber LED indicates that a 100 Mbps mega bits per second network is in use Without Amber LED indicates that the network is at 10 Mbps The pinouts for the J24 Ethernet connector are as follows Pin Number Signal Description J24 EthernetTx Ethernet differential transmit positive 2 EthernetTx Ethernet differential transmit negative 3 EthernetRx Ethernet differential receive positive 4 No connect No connect 5 No connect No connect 6 EthernetR
13. slave output Prodigy CME Machine Controller Card User s Guide Electrical Reference 4y 3 2 1 3 Axis 3 Atlas Socket Pin Connection Description J3 GND Power return for HV3 Motor A Motor B Motor C and Motor D 2 GND Power return for HV3 Motor A Motor B Motor C and Motor D 3 HV3 DC power to the Axis 3 Atlas module referenced to GND 4 HV3 DC power to the Axis 3 Atlas module referenced to GND 5 Motor A3 Axis 3 motor output signal A 6 Motor A3 Axis 3 motor output signal A 7 Motor B3 Axis 3 motor output signal B 8 Motor B3 Axis 3 motor output signal B 9 Motor C3 Axis 3 motor output signal C 10 Motor C3 Axis 3 motor output signal C II Motor D3 Axis 3 motor output signal D 12 Motor D3 Axis 3 motor output signal D 13 Enable3 An active low enable signal 14 FaultOut3 FaultOut3 provides programmable fault indication 15 NC Not Connected 16 GND Ground return for Enable FaultOut SPI or pulse amp direction signals I7 SPICS3 Atlas SPI bus slave select3 18 SPISI Atlas SPI bus master output slave input 19 SPICLK Atlas SPI bus serial clock 20 SPISO Atlas SPI bus master input slave output 3 2 1 4 Axis 4 Atlas Socket Pin Connection Description J4 GND Power return for HV4 Motor A Motor B Motor C and Motor D 2 GND Power return for HV4 Motor A Motor B Motor C and Motor D 3 HV4 DC power to Axis 4
14. 2 8 1 AnalogOut Enable To help insure that machine controller and external amplifier power startups do not induce unexpected motion the machine controller card provides a mechanism to separately enable or disable the analog output channels The default on power up is disabled resulting in a zero voltage output at the analog output signals The analog output channels must be enabled by the user before they can output non zero voltage values Note that the machine controller s analog output circuitry can be controlled by two separate sources One source is the Magellan motion processor as described above The other source is via the PRP interface The default is control by the Magellan motion processor For information on controlling the analog outputs through the PRP interface see Section 2 3 5 General Purpose Analog Output 2 2 8 2 C Motion Commands Upon powerup the machine controller card will automatically set any axes that do not have an installed Atlas amplifier to analog output mode Therefore in most cases it is not necessary to explicitly set a particular axis to analog motor output mode If desired the motor output mode for an axis can be programmed directly To set an axis for analog output mode the C Motion command SetOutputMode is used The value set can be read back using GetOutputMode See the Magellan Motion Processor User s Guide for more information If the Magellan motion processor is instructed to
15. Atlas module referenced to GND 4 HV4 DC power to Axis 4 Atlas module referenced to GND 5 Motor A4 Axis 4 motor output signal A 6 Motor A4 Axis 4 motor output signal A 7 Motor B4 Axis 4 motor output signal B 8 Motor B4 Axis 4 motor output signal B 9 Motor C4 Axis 4 motor output signal C 10 Motor C4 Axis 4 motor output signal C II Motor D4 Axis 4 motor output signal D 12 Motor D4 Axis 4 motor output signal D 13 Enable4 An active low enable signal 14 FaultOut4 FaultOut4 provides programmable fault indication I5 NC Not Connected l6 GND Ground return for Enable FaultOut SPI or pulse amp direction signals I7 SPICS4 Atlas SPI bus slave select4 18 SPISI Atlas SPI bus master output slave input 19 SPICLK Atlas SPI bus serial clock 20 SPISO Atlas SPI bus master input slave output 3 2 2 Power Connector Prodigy CME Machine Controller Card User s Guide 79 4 Electrical Reference For each Atlas unit installed on the Prodigy CME Machine Controller card there will be a dedicated 2 pin HV power connector that accepts input voltage in the range of 12 56VDC J5 J6 J7 and J8 are used to provide power to each Atlas unit Molex 4 20mm Pitch Mini Fit plus HCS series single row vertical Power Terminal Headers are used for the 2 pin power connectors Note that there is a 5V power connector J20 on the board Users can power the board with 5V supply when HV1 is not available However this will not power the Atlas modul
16. C Motion Engine Hardware Configuration The C Motion Engine is a self contained module that provides non volatile RAM space to store downloaded user application code RAM space for scratch data variable storage and connections to the communication bus allowing the C Motion Engine to send and receive messages through the network ports communicate with the Magellan Motion Processor and access other on card resources such as the dual ported RAM Creating compiling downloading and verifying a specific user C Motion application on a Prodigy CME Machine Controller card is accomplished with the C Motion Engine development system described in C Motion Engine Development Tools The outcome of such a development sequence is a downloadable code image run on the C Motion Engine that contains the user application code and that is executed by the C Motion Engine on the Prodigy CME Machine Controller card Figure 2 20 provides an overview of the architecture of the C Motion Engine To communication bus C Motion Engine communications processor 8 KB data i RAM space clock gt 8 KB code e stack space C Motion Code p Execution Unit Task control 256 KB user lt w program defaults space Prodigy CME Machine Controller User s Guide Operation ro The following table provides an operational overview of the capabilities and resources provided by the C Motio
17. CONNECTIONS ar aeaa bee tease Gist ghute He baja T Sle boaya E ele AE e 25 1 12 Serial Port Connection juin Anan aE Tela ene eee AR a ae ees 26 1 13 Serial and Ethernet Connection 0 cece cece cece eee eeenen ence nen en en eneenens 26 1 14 Two Ways to Locate the Code on the Prodigy CME Machine Controller Card 33 2 1 Prodigy CME Machine Controller Card Internal Block Diagram ee ee ee eee 35 2 2 Encoder Signal Schematic QuadA B and Index cece cece eee e eee e tence en eaes 41 2 3 SSI with Controller as Clock Master 0 cece cece cece cence nen e nee tenet en enenenes 43 2 4 Connecting Multiple Cards ccc cece cece cee eee nen e enn eee n ete ee enn ee enee 43 2 5 Home Limits and Hall Sensor Signal Schematic cee cece cece eee ee ence en eneee 45 2 6 Axisin Signal Schematic 4 vac evi ae aaa tien w in bien AR Ne han VN eat 46 2 7 AxisOut Signal Schematic 0 cece ccc ccc cee cree e enn ene e eee nent nent eee eenee 46 2 8 Analog Output Signal Schematic syrien ya cece cece cece ene nent nee n tent ene eenes 49 2 9 Digitalln 1 4 Interface Schematic 0 cece eee cece n een ence ence eens nee en eens 52 2 10 DigitalOut 1 4 Interface Schematic cece cee cece ene eee n ene ee enn eeenene 52 2 11 DigitallO 1 8 Interface Schematic 0 cece cece cece eee nen ene nee e eee n nen enene 53 2 12 Analog Inputs Simplified Diagrams 6 cece c
18. D4 using Figure 1 5 If the LED does not light recheck the 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 PMD for assistance 26 Prodigy CME Machine Controller User s Guide Installation 4 1 12 First Time System Verification The first time system verification procedure summarized below has two overall goals The first is to connect the Prodigy card with the PC that is being used so that they are communicating properly and the second is to initialize each axis of the system and bring it under stable control capable of making trajectory moves While there are many additional capabilities that Pro Motion and the Prodigy motion cards 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 2 Use the serial communications link to change the Ethernet communications parameters of the Prodigy CME Machine Controller card 3 Establish communication between the PC and the card using the Ethernet communications link 4 Disconnect
19. Ground 6 5V Maximum 100mA 5V output 7 Reserved Reserved signal 8 Reserved Reserved signal 9 Reserved Reserved signal 10 SyncOut Multiple cards SyncOut signal 11 GND Ground 12 Reset Active Low hardware reset 3 2 8 Serial Connector The Serial Connector J23 provides connections to two serial ports in RS232 mode or a single serial port in RS485 mode Electrically these connectors provide access to the same signals however they have different physical connectors Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 and wiring The following sections provide information for the serial connector and provide pinouts when operated in RS232 mode RS485 full duplex mode and RS485 half duplex mode Pin Connection RS232 RS485 Full RS485 Half Duplex Duplex J23 RS485Select Open default selects When tied to ground When tied to ground RS232 mode for both selects RS485 mode for selects RS485 mode for Serial and Serial2 both Serial and Serial2 both Serial and Serial2 2 Srl Xmt Serial transmit output Negative inverting Negative inverting RS485Xmt transmit output transmit receive 3 Srl2Rev Serial 2 receive input Positive non inverting No Connect RS485Revt receive input No connect No connect No Connect No Connect 5 GND Ground Ground Ground Srl2Rev Serial 2 receive input Positive non inverting No Connect RS485Revt receive input 7 SrlI Rev Serial receive input Negative in
20. IP Address in the corresponding data field as well as the net mask and gateway if this is required for your network 5 Click OK to store as the power on default 6 Click the Reset toolbar button After the card is reset it uses the default parameters that you specified 7 Connect the Ethernet cable See Section 1 10 4 Communication Connections for details The card is now ready for Ethernet communications 1 12 3 Establishing Ethernet Communications The card s IP Address has now been set but Pro Motion does not as yet know what IP address it should use for Ethernet communications to the card To establish Ethernet communications 1 Click the Connect toolbar button Select Ethernet and then click OK Enter the same IP Address as was specified for the Prodigy CME Machine Controller card A B amp B N When complete click OK If Ethernet communications are successful an additional set of graphical icons representing your card and axes will be loaded into the Project window to the left below the first set created while establishing communications by serial link If communication is not successful after about 30 seconds a Communications Timeout Error dialog box appears If this is the case recheck your connections and retry to establish Ethernet communications See step 1 in Section 1 12 2 Setting the Ethernet Parameters for details With Ethernet communications functioning properly the final step is to disable
21. If an unexpected Magellan reset occurs such as from a Magellan watchdog timeout the user may use this register to assist with determining the cause 2 6 4 1 C Motion Commands To read the machine controllet s reset monitor register the command DeviceGetResetCause is used 2 6 4 2 Connections amp Associated Signals There are no signals associated with this function 2 6 5 Card Reset Although a reset occurs automatically during power up it is sometimes desirable to reset the Prodigy CME Machine Controller card explicitly through a user initiated command or action After a card reset occurs the Magellan Motion Processor and the C Motion Engine modules will be reset and many of the Prodigy CME Machine Controller card s output signals will be driven to known states These are summarized in the following table Signal Name State AxisOutl 4 High AnalogOutl 8 0 0 volts DigitalOutl 4 Low AmpEnablel 4 High Digital 1 O 1 4 default to be inputs at card reset In addition upon a card reset all card default parameters are reloaded See Section 2 6 6 Setting Card Defaults for more information on default values 2 6 5 1 C Motion Commands The C Motion command DeviceReset is used to reset the card 2 6 5 2 Connections amp Associated Signals Although as noted above there are many card signals affected by a reset there are no specific signals associated with this function 2 6 6 Setting Card Defau
22. Magellan User Application Code When located on a host controller the users code communicates via the serial CANbus or Ethernet link to the Prodigy CME Machine Controller card Either Visual Basic or C Motion can be used to communicate to the Prodigy CME card and the choice of software tools to compile and debug C code is typically determined by the developer The advantages of a host centered machine controller approach are that software sequences can be centralized and the user s code has convenient access to the PC keyboard mouse or touch screen user interface facilities When located in the Prodigy CME Machine Controller card the uset s code communicates directly to the resources available on the card such as the Magellan Motion Processor This has speed advantages both in communicating with those resources and in real time code execution predictability Another feature of locating code on the card is that the C Motion Engine can be programmed to receive or send commands from a higher level controller via the Prodigy CME serial CANbus or Ethernet links In this way the user5 application code downloaded onto the card forms a local controller while still communicating to the higher level controller that synchronizes overall system behavior Finally locating the code in the card allows use of the Prodigy CME card as a fully standalone controller In this mode a host controller network communication link is not used and o
23. Protocol and UDP User Datagram Protocol TCP is typically used for primary Ethernet communications to the card while UDP is typically used for non critical applications such as data logging or for the Pro Motion console window See Section 2 7 6 Debug Console Window for more information on the C Motion Engine console window When used to receive PRP messages the physical node on the Ethernet network controller is assigned a 32 bit IP Internet Protocol address along with a 32 bit netmask and a 32 bit gateway value The Netmask is used to indicate which IP addresses are local and the gateway value is used to route non local addresses To correctly receive communications from the host controller a 16 bit identifier known as a port must also be specified Note that when used as the connection between the host controller and the Prodigy CME Machine Controller card TCP rather than UDP communications are used To determine what the unused IP addresses are for your Ethernet network and what values for netmask and gateway to use you should contact your network administrator By convention the 32 bit values for IP Address Netmask and Gateway are shown in Dotted Quad Notation In Di this notation each of the four numbers are separated by dots and denote a decimal value for each byte of the four byte word The table below shows the range and default settings for the Ethernet controller of the Prodigy CME Machine Controller card
24. There are numerous Magellan C Motion commands related to processing home or limit switches as well as Hall sensor input signals Refer to the Magellan Motion Processor User s Guide for complete information 2 2 5 2 Connections amp Associated Signals These signals are named Home 4 PosLim l 4 positive direction limit input NegLim 4 negative direction limit input and Halll A 4C 12 signals in all They are all located on the Axis Feedback connectors as are the ground signals that should be used in conjunction with these inputs These signals are single ended digital inputs to the card One or more of the digital grounds must be connected The input signals are pulled up through 4 7k Ohm resistors to 5V See Chapter 3 Electrical Reference for a complete description of the pin out connections to and from the card 2 2 5 3 Electrical Interfacing All of the home limits and Hall sensor inputs utilize the following on card circuitry to process these signals 5V Figure 2 5 Home Limits and Hall Sensor 4 7K Signal Schematic 10K Limit Limit gt gt Home Halt aul SN74ACT14PWRG4 2 2 6 Axisin AxisOut Signals These signals are input to or output by the Magellan motion processor and facilitate coordination of Magellan motion sequences with external hardware These signals are optional and are connected depending on the nature of the application See the Magellan Motion Processor User s Guide for more info
25. analog output word is 0 65 535 where 0 10V and 65 535 10V The analog outputs can be controlled by two separate sources One source is the Magellan motion processor which uses them to output desired motor torque commands The other source is user control via the PRP interface Each of the 8 channels can be individually directed to be controlled by the Magellan or by the user The default analog output source of all analog output channels is the Magellan motion processor The AnalogOut source is controlled via axis specific registers in the PIO space See Section 2 1 2 Peripheral 1 0 Space for the detailed location and format of these registers Analog Output Characteristics Value Range Output signal voltage range 10V to 10V Resolution 16 bits Integral non linearity error typical 2 LSB Integral non linearity maximum LSB DC output impedance typical 0 5 ohm Short circuit current 30mA To determine the voltage that will be output by the Prodigy CME Machine Controller card given a specific commanded output value the following formula is used AnalogVoltage Write Value 10 0V 65 535 Conversely given a desired voltage the value that should written to generate this voltage is calculated as Write Value AnalogVoltage 65 535 10 0V 2 3 5 1 AnalogOut Enable The Prodigy CME Machine Controller cards allow the AnalogOut signals described in Section 2 2 8 Analog Motor Command Output to be
26. code and address faults indicating that either a program space or RAM space access limit was violated If either of these conditions occur the C Motion Engine will immediately halt user code execution and reset the Prodigy CME Machine Controller card This C Motion Engine initiated reset is identical to the reset that occurs after sending a card reset C Motion command except that the cause of the reset is recorded as C Motion Engine user code Fault rather than commanded reset See Section 2 6 5 Card Reset for more information on the Reset command See Section 2 6 4 Reset Monitor for information on retrieving the reset cause Whether or not user application code is running after reset or powerup the C Motion Engine begins processing PRP actions sent to it These commands ate typically sent from a host controller The supported commands include functions such as checking the downloaded user application code version stored in the C Motion Engine and sending and receiving messages to the user code loaded on to the C Motion Engine For additional guidelines on managing run time usage of the C Motion Engine see the C Motion Engine Development Tools manual 2 7 3 Task Control The primary purpose of the C Motion Engine is to execute user application code that has been downloaded to it using the C Motion Engine development system In a production environment this code will typically automatically start upon powerup and r
27. enable signal 14 FaultOut FaultOut provides programmable fault indication I5 NC Not Connected 16 GND Ground return for Enable FaultOut SPI or pulse amp direction signals 17 SPICSI Atlas SPI bus slave select 18 SPISI Atlas SPI bus master output slave input 19 SPICLK Atlas SPI bus serial clock 20 SPISO Atlas SPI bus master input slave output 3 2 1 2 Axis 2 Atlas Socket Pin Connection Description J2 GND Power return for HV2 Motor A Motor B Motor C and Motor D 2 GND Power return for HV2 Motor A Motor B Motor C and Motor D 3 HV2 DC power to Axis 2 Atlas module referenced to GND 4 HV2 DC power to Axis 2 Atlas module referenced to GND 5 Motor A2 Axis 2 motor output signal A 6 Motor A2 Axis 2 motor output signal A 7 Motor B2 Axis 2 motor output signal B 8 Motor B2 Axis 2 motor output signal B 9 Motor C2 Axis 2 motor output signal C 10 Motor C2 Axis 2 motor output signal C II Motor D2 Axis 2 motor output signal D 12 Motor D2 Axis 2 motor output signal D 13 Enable2 An active low enable signal 14 FaultOut2 FaultOut2 provides programmable fault indication I5 NC Not Connected 16 GND Ground return for Enable FaultOut SPI or pulse amp direction signals I7 SPICS2 Atlas SPI bus slave select2 18 SPISI Atlas SPI bus master output slave input 19 SPICLK Atlas SPI bus serial clock 20 SPISO Atlas SPI bus master input
28. serial ports a CANbus port and an Ethernet port Atlas Amplifier functions The on card Atlas amplifiers accept motor output commands from the Magellan motion processor and provide high performance current control and amplification for attached step DC brush or brushless DC motors There ate numerous programmable parameters including current gains safety parameters and more General Card functions These are general purpose card functions such as a dual ported RAM a non volatile RAM a card reset function a card watch dog timer and several others C Motion Engine functions The C Motion Engine is a self contained high performance code execution unit that allows C Motion code to be downloaded and executed on the Prodigy CME Machine Controller card It can communicate with various resources on the card including the Magellan Motion Processor the card s serial CANbus and Ethernet ports and other on card resources such as the dual ported RAM 2 1 1 Card Access Basics Access to the Prodigy CME Machine Controller card from the serial CANbus or Ethernet ports is provided by a protocol called the PMD Resource access Protocol PRP This easy to use yet powerful system utilizes actions resources and addresses to access the Prodigy CME Machine Controller card functions Various card functions are organized into resources and resources process actions sent to them Actions can send information request information or command specif
29. set for 32 bit parallel mode to enable proper data transfer from the card s SSI decode logic 2 2 4 3 C Motion Commands There are several commands needed to set up a particular axis to process SSI encoder information The Magellan IC encoder input source must be changed from the default value of incremental quadrature to parallel 32 bit word To change the encoder input source the C Motion command SetEncoderSource with parallel 32 bit word format selected is used To read back the current value the command GetEncoderSource is used In addition if the motor encoder is mounted on a motor that can spin multiple times a modulus should be specified so that the Magellan IC can correctly track the encoder location as it wraps from maximum to smallest value or vice versa This is accomplished using the C Motion SetEncoderModulus command To read the current value back the command GetEncoderModulus is used Refer to the Magellan Motion Processor Users Guide for more information on both of these commands To set or retrieve the value of the machine controller s PIO setup registers the user must first open a Peripheral of type PIO This is accomplished using the C Motion command PeriphOpenPIO Using the returned Peripheral handle the user can write to the desired SSI registers using the C Motion command PeriphWrite To read back the current value of a PIO register the command PeriphRead is used For detailed PIO address register information see Sect
30. shunted to 0 volts for safety purposes disabled or to be actively controlled enabled The Prodigy CME Machine Controller User s Guide 55 Operation Figure 2 14 Analog Output Interface 56 AnalogOut enable disable mechanism is global meaning it affects all AnalogOut channels It is not possible to selectively enable disable analog output by axis or channel The power up default value for the AnalogOut enable function is disabled In addition the AnalogOut enable function is disabled upon a card reset or via the external Reset signal See Section 2 6 5 Card Reset for more information The analog output channels must be enabled by the user before they can output non zero voltage values See Section 2 2 8 1 AnalogOut Enable for information on how to control the AnalogOut signal enable disable 2 3 5 2 C Motion Commands To set the machine controller s analog output channels the user must first open a Peripheral of type PIO This is accomplished using the C Motion command PeriphOpenPIO Using the returned Peripheral handle the user can write one or more 16 bit word values representing the desired analog voltage command the AnalogOut source or AnalogOut enable disable status using the PeriphWrite command The written values can be read back using PeriphRead 2 3 5 3 Connections amp Associated Signals The general purpose analog outputs are direct differential analog outputs located on the Am
31. tabs 0 3 0 3 3 Step motor Vertical tabs 1 2 2 Prodigy CME Machine Controller Part Number Examples Part Number Description Atlas Units PR33NMI 11158420 Four axis with standard memory configuration and Four brushless DC Atlas Atlas amplifiers soldered onto card PR33NL000058320 Three axis with extended memory option and no none installed Atlas units PR33NM320058220 Two axis with standard memory configuration and Step motor Atlas in axis 1 slot Atlas amplifiers soldered onto card DC brush Atlas in axis 2 slot 1 2 3 On card Amplifier Socket Configuration The Prodigy CME Machine Controller cards support up to four on card Atlas amplifiers In production use of the machine controller any installed Atlas amplifiers should be soldered to the board However for prototyping purposes it may be desirable to utilize Atlas compatible sockets to allow amplifiers to be installed into the card as needed As shown in the part numbering information above whether or not Atlas sockets are installed is specifiable when ordering the card If the Prodigy CME Machine Controller card is ordered with Atlas units specified but with sockets unspecified then the card is provided with Atlas units soldered on Users who do not plan to use on card amplification or who plan to solder Atlas units on themselves should specify the no socket configuration of the card Note that if the DK developet s kit version of the card is specified s
32. your Prodigy CME Machine Controller card is connected to the PC It provides various selectable communication options such as PCI serial CANbus Ethernet 4 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 5 Click OK without changing any of these settings If serial communication is correctly established a set of object graphics loads into the Project window to the left as shown in the following figure 2 Project Pro Motion DER Eile View Actions Help CONNECT OPEN SAVE SAVERS PROJECT DEVICE axis status SCOPE CMD MONITOR CONSOLE Axis RESET STOP DEVICE axis TUNING fa sab 6 BaBe 2 FE Axis Control Host Motor type bs Positi A Mot Fl CME Interface TCP IP 192 168 0 17 Trajectory b alee Phasing RREN f 4 Prodigy CMe PR1358420 a Motor Control ig Feedback F ___ Brushless DC 3 phase Pro Motion functions Operating Mode Limit Switches Event Manager Tracking Breakpoints Axis 1 0 Units Status Commanded position Actual position Position error Capture position Active motor command Settled Settled Settled For example for a four axis Prodigy card you see the card name next to an icon of a card and below that you see four axis icons one for each available axis of
33. 0V 5V voltage range 0 3V to 5 5V Storage Temperature 20 to 150 C 3 6 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 Optional 5V requirement 4 75V to 5 25V operating range Analog DAC output range 10 0V to 10 0V 3mA min axis short circuit protected Analog input range 10 0V to 10 0V 80 4 KOhm input impedance Digital I O voltage range Digital outputs drive capacity OV to 5V TTL thresholds inputs pulled up to 5V through 4 7 kOhm resistors DC output source or sink current 5 0mA CAN communications 2 0B compliant non isolated Mbps Serial communications RS232 signaling or RS485 Full or Half Duplex data only Ethernet communications 10 100BASE TX 10 100 Mbps Prodigy CME Machine Controller Card User s Guide 91 92 4 Electrical Reference Figure 3 2 Prodigy CME Machine Controller Mechanical Dimensions Mechanical Dimensions The size of the board is 7 80 L x 4 88 W 118 9 T 4 68 e or 6 2 lt lt 70 6 2 78 64 2 52
34. 18 3 J19 3 QuadBn J 16 4 J17 4 J18 4 J19 4 Indexnt J16 6 J17 6 J18 6 J19 6 Indexn J16 7 J17 7 J18 7 J19 7 Vcc J16 14 J17 14 J18 14 J19 14 GND J16 15 J17 15 J18 15 J19 15 Encoder connections when using single ended encoder input Signal J16 J19 Axis 1 Axis 2 Axis 3 Axis 4 QuadAn Jl6 I J17 I J18 1 J19 1 QuadBn J16 3 J17 3 J18 3 J19 3 Indexn 16 6 J17 6 J18 6 J19 6 Vcc 16 14 J17 14 J18 14 J19 14 GND 16 15 17 15 18 15 19 15 3 2 Connectors There are 24 user accessible connectors on the Prodigy CME Machine Controller card See Figure 3 1 for the specific locations of the connectors on the card The connectors and their functions are outlined in the following table Connector Connector Functionality Name Axis Atlas Jl Provides socket for Axis pluggable Atlas unit Axis 2 Atlas J2 Provides socket for Axis 2 pluggable Atlas unit Axis 3 Atlas J3 Provides socket for Axis 3 pluggable Atlas unit Axis 4 Atlas J4 Provides socket for Axis 4 pluggable Atlas unit Axis Power J5 Provides power to the whole card plus Axis Atlas unit It accepts DC supply in the range of 12 56 VDC Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 Connector Connector Functionality Name Axis 2 Power J6 Provides power to the Axis 2 Atlas unit It accepts DC supply in the range of 12 56 VDC Axis 3 Power J7 Provides power to the Axis 3 Atlas unit
35. 2 6 5 Card Reset for a description of the card reset function After a Magellan reset occurs some of the Prodigy CME Machine Controller card s output signals will be driven to known states These are summarized in the following table Signal Name State AxisOut 4 High AnalogOut 8 Depends on analog output source Prodigy CME Machine Controller User s Guide 49 2 Operation 50 Signal Name State AmpEnable 4 No change 2 2 10 1 C Motion Commands The C Motion command MPDeviceReset causes a reset of the Magellan Motion Processor 2 2 10 2 Connections amp Associated Signals Although as noted in the table above some card signals may be affected by this command there are no signal connections specifically associated with this feature 2 3 I O Functions 2 3 1 General Purpose Digital I O In addition to signals that directly interface to the Magellan motor processor such as AxisIn AxisOut Home QuadA QuadB Index the machine controller card supports general purpose digital input and output signals through its General IO connector There are four digital outputs four digital inputs and eight bi directional I Os These resources along with a few others such as analog input and output are part of the machine controller s Peripheral 1 O space or PIO for short See Section 2 1 2 Peripheral I O Space for more information on the machine controller s PIO address map The general purpose di
36. 3 NegLim Negative position limit input optional 14 5V 5V power output which may be used to power the motor s encoder circuitry 15 GND This is the preferred ground connection for the 5V output along with the Hall home and limit input signals If using single ended encoder connection refer to Section 2 2 3 2 Connections amp Associated Signals for wiring information J16 J17 J18 and J19 are the motor signal connectors for axes 1 2 3 and 4 respectively They may be located on the card using Figure 1 5 Prodigy CME Machine Controller User s Guide 23 rN Installation 1 10 2 Motor Drive Connections The following table summarizes the motor drive connections from the Prodigy CME Machine Controller to the coils of your motor Each motor drive connector is designed to connect to all available motor types brushless DC DC brush step motor There are four motor drive connections for each axis and a shield connection Not every motor type uses all four drive connections however Between one and four axes may be connected depending on the specific card purchased and application requirements All connections are made through the Motor Drive Connectors which are male Molex Mini Fit Plus style connectors If you have ordered the developet s kit version of the machine controller you may find it convenient to use the y gt y provided motor drive stub cable sets to connect to the motor drive signals There is one connect
37. 5 000 counts sec2 Velocity 10 000 counts sec Position 0 counts Position 2 50 000 counts 6 Click Go and confirm that the motion occurred in a stable and controlled fashion Congratulations First time system verification for this axis is now complete You should now initialize all of the axes in your system Go to Section 1 12 5 Initializing Motion Axes and repeat the steps 1 13 Developing User Application Code Pro Motion provides an intuitive convenient graphical interface to setup and exercise motion controllers such as Prodigy CME cards or ION Digital Drives Eventually though you will begin to design application specific software code that will serve as your system controller PMD supports two standard languages to accomplish this Visual Basic through the provided DLLs and C C through the source code based system known as C Motion 32 Prodigy CME Machine Controller User s Guide Installation 4 For more information on Visual Basic support and C Motion please consult the Magellan Motion Processor Programmers Command Reference and the PMD Resource Access Protocol Programmer Reference 1 13 1 Architecture Figure 1 14 shows two ways to locate your application code with the Prodigy CME Machine Controller cards System Figure 1 14 C Moti Tien Two Ways to Motion Engine Locate the Code on the Magellan man ie Application Machine Code Controller Card System Host C Motion Controller Engine
38. 80 general I O 83 motor drive 82 parts reference 86 power 80 serial 84 current foldback 63 processing example 63 D debug console window 73 Developer s Kit components list 14 differential encoder input 76 drive enable 63 fault status register 63 ratings 61 E electrical ratings 91 encoder connections 76 settings 76 environmental ratings 91 F fault overcurrent 61 overtemperature 61 FaultOut Signal 63 95 My 96 H Hall sensors 45 hardware accessory products 16 hardware recommendations 17 l T O functions 50 56 analog input 53 55 analog output 55 56 general purpose digital 50 52 internal block diagram 61 L L bracket 13 21 Atlas installation 14 card assembly 20 installation 20 mechanical dimensions 93 M Magellan Atlas interfacing 47 AxisIn AxisOut signals 45 functions 36 38 instructions 38 reset 49 watchdog timer 49 memory dual ported 64 non volatile 65 on card configuration 12 motor current 63 motor connection 22 brushless DC 22 DC brush 22 step 23 N non volatile initialization storage 64 O overcurrent fault 61 overtemperature fault 61 overvoltage fault 62 P part number Developer s Kit 13 Prodigy CME Machine Controller 10 Peripheral I O space 37 pinouts 85 CAN connectors 85 Ethernet connector 86 power applying 26 connections 25 power up 64 Prodigy family overview 9 Q quadrature encoder C Motion commands 40 connections 40 signals 40 41 R ratings d
39. Axis 3 Axis 4 Motor Ji l J2 1 J3 I J4 1 Motor Jl 3 J2 3 J3 3 J4 3 Case Shield Jl 5 J2 5 J3 5 J4 5 3 3 1 3 Step Motor Connections Connection Name Axis 1 Axis 2 Axis 3 Axis 4 MotorA JI jal J3 I J4 MotorA Ji 2 J2 2 J3 2 J4 2 MotorB Ji 3 J2 3 J3 3 J4 3 MotorB Ji 4 J2 4 J3 4 J4 4 Case Shield jis J2 5 J3 5 J4 5 3 3 2 Analog Output Mode The following sections show the connection to different types of motors when the Analog output signals of the Amplifier I O J14 connector are used 3 3 2 1 Brushless DC Motor Connections Connection Name Axis 1 Axis 2 Axis 3 Axis 4 AnalogOut 4 J14 7 Jl48 4 94 15 AnalogOut5 8 Jl416 J14 17 JI4 25 14 26 AGND Jl46 Jl4 6 JI4 I18 44 24 3 3 2 2 DC Brush Motor Connections Connection Name Axis 1 Axis 2 Axis 3 Axis 4 AnalogOut 4 AGND Prodigy CME Machine Controller Card User s Guide J14 7 J14 6 J14 8 J14 6 J14 9 J14 18 J14 15 J14 24 87 4 Electrical Reference 3 3 2 3 Step Motor Connections Connection Name Axis 1 Axis 2 Axis 3 Axis 4 AnalogOut 4 J14 7 JI4 8 l4 9 14 15 AnalogOut5 8 Jl416 Jl417 414 25 14 26 AGND Jl46 Jl4 6 JI4 18 4 24 3 4 Cables The following table provides a summary of the cables that are available with the Prodigy CME Machine Controller Component Part Number Description Cable 5001 01 2 signal HV Power supply cable This stub cable provides power to th
40. OMs comprise the software distribution for Prodigy CME cards All software applications are designed to work with Windows XP Vista or Windows 7 e Pro Motion The Pro Motion CD ROM is located in its own Pro Motion box and contains the software associated with the Pro Motion Optimized Motion System Development software Prodigy CME Machine Controller User s Guide 17 rN Installation e PMD Prodigy CME SDK The PMD Prodigy CME SDK CD ROM is located separately and contains the C Motion Engine development tools the C Motion source libraries and Visual Basic 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 Inthe Open text box type D setup exe where D is the drive letter of your computers CD ROM drive 4 Follow the on screen prompts to complete the installation process Once installation of Pro Motion is complete insert the PMD Prodigy CME SDK disk and follow the same procedure above as for Pro Motion installation Upon completion of the installation process for Pro Motion and PMD Prodigy CME SDK the following components will be installed e Pro Motion an application for communicating to and exercising the installed card Refer to the Pro Motion Users Guide for operating instructions e C Mot
41. Part Cable 5003 01 Description Male to female straight through high density DB 44 connector cable Length 0 meter Cable 44 conductor with 26AWG stranded cables J13 Pin Signal J13 Pin Signal Analogin 2 Analogin 3 Analogin2 4 Analogin2 5 AGND 6 AGND 7 Reserved 8 Reserved 9 DigitallO 10 DigitallO2 II DigitallO3 12 GND 13 DigitalOut 14 DigitalOut2 15 DigitalOut3 16 Analoglin3 17 Analogin4 18 Analoglin5 19 Analogln6 20 Analogln7 21 Analogin8 22 AGND 23 Reserved 24 Reserved 25 DigitallO4 26 DigitallO5 27 DigitallO6 28 Digitalln 29 Digitalln2 30 DigitalOut4 31 Analogin3 32 Analogin4 33 Analogin5 34 Analogin6 35 Analogln7 36 Analogin8 37 AGND 38 GND 39 GND 40 DigitallO7 4l DigitallO8 42 GND 43 Digitalln3 44 Digitalln4 Prodigy CME Machine Controller Card User s Guide 89 4 Electrical Reference 3 4 4 Cable 5004 01 PMD Part Cable 5004 01 Description Male to female straight through high density DB 26 connector cable Length 0 meter Cable 26 conductor with 24AWG stranded cables J14 J14 Pin Signal Pin Signal AmpEnablel 2 AmpEnable2 3 GND 4 Axislnl 5 Axisln2 6 AGND 7 AnalogOutl 8 AnalogOut2 9 AnalogOut3 10 AmpEnable3 Il AmpEnable4 12 GND 13 AxisIn3 14 Axisin4 15 AnalogOut4 16 AnalogOut5 17 AnalogOut6 18 AGND 19 AxisOutl 20 AxisOut2 2l AxisOut3 22 AxisOut4 23 GND 24 AGND 25 AnalogO
42. Prodigy CME PC 104 User s Guide PR9258x20 PCI No No Prodigy PCI User s Guide PR9358x20 PCI Yes No Prodigy CME PCI User s Guide PR 13x58x20 Stand Alone Yes No Prodigy CME Stand Alone User s Guide PR33xxabcd58x20 Machine Yes Yes Prodigy CME Machine Controller User s Guide Controller Prodigy CME Machine Controller User s Guide 9 rN Installation Figure 1 1 Prodigy CME Machine Controller Part Numbering 10 1 2 Prodigy CME Machine Controller This manual provides a complete Users Guide for the Prodigy CME Machine Controller cards For documentation on other members of the Prodigy family please consult the appropriate documentation Prodigy CME Machine Controller cards also referred to as machine controllers come in various configurations of axis number from 1 to 4 In addition they may be provided with specific pre soldered Atlas amplifiers with Atlas amplifier sockets or without Atlas amplifiers 1 2 1 Prodigy CME Machine Controller Part Number PR33 58 20CP i _ Socket Version of Axes N No sockets 1 4 S Sockets installed Magellan CP Version contact PMD a Hardware Configuration Atlas 1 Atlas 3 Atlas Type Codes M Standard memory Type Code Type Code config 0 3 0 3 0 None L Enhanced memory Atlas 2 Atlas 4 1 Brushless DC Vertical tabs config Type Code Type Code 2 DC Brush Vertical
43. ReadValue 10 0V 32 767 Prodigy CME Machine Controller User s Guide 53 Operation Figure 2 12 Analog Inputs Simplified Diagrams 54 Differential Analog Input Connector Shield Prodigy CME Machine Controller Differential Driver Analog n SingleEnded Analog Input Connector Shield VOut Vv Prodigy CME Machine Controller Analog n AGND 2 3 4 1 C Motion Commands To read the machine controller s analog input channels the user must first open a Peripheral of type PIO This is accomplished using the C Motion command PeriphOpenPIO Using the returned Peripheral handle the user can read one or more 16 bit word values representing the current analog voltage using the PeriphRead command 2 3 4 2 Connections amp Associated Signals The general purpose analog inputs are differential analog inputs located on the General IO connector J13 To function properly one or more of the analog grounds must be connected See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card Prodigy CME Machine Controller User s Guide Operation ro 2 3 4 3 Electrical Interfacing 680pF Figure 2 13 Analog Input Interface AnalogIn gt 40 2K Analogin gt gt TLO84CPWR 2 3 5 General Purpose Analog Output There are 8 general purpose analog outputs each consisting of a 16 bit 10V differential analog output The range of the commanded
44. a single call to PeriphWrite 2 3 3 2 Connections amp Associated Signals The general purpose digital I O signals are all located on the General IO connector J13 One or more of the digital grounds must be connected Digital inputs are pulled up through 4 7k Ohm resistors to 5V The power up default value for all general purpose digital outputs is low See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card Prodigy CME Machine Controller User s Guide 51 2 Operation Figure 2 9 Digitalln 1 4 Interface Schematic Figure 2 10 DigitalOut 1 4 Interface Schematic 52 2 3 3 3 Electrical Interfacing The digital inputs are open collector logic When an output pin is set to 1 high the output transistor is off and the gt p P 8 put p S pin can be used as an input When an output pin is set to 0 low the output transistor is on which pulls the signal to ground and the pin cannot be used as an input The digital signals are processed using the following circuitry 5V 4 7K Digitalin gt SN74LVC3G17DCUR 5V gt gt DigitalDut DDTC143TCA 7 F Prodigy CME Machine Controller User s Guide Operation 2 3 4 5V Figure 2 11 DigitallO 1 8 Interface Schematic 3 3V SN74LVC3G17DCUR General Purpose Analog Input The machine controller card supports eight general purpose analog inputs each consisting of 10V differe
45. ad or written to by the user application code In addition PMD s Pro Motion application supports a simple way of entering sending and or receiving such messages This makes it easy to manually enter commands from Pro Motion and exercise the user application code which is programmed to parse these messages To utilize this approach a new peripheral is opened using the C Motion command PeriphOpenCME Thereafter PeriphSend or PeriphReceive commands are used to send and receive these messages within the C Motion Engine In addition to these communications commands the C Motion command DeviceNoOperation performs a basic connection check A return without an error code indicates that the C Motion Engine is accessible and processing commands Prodigy CME Machine Controller User s Guide Operation ro 2 7 5 Connecting To The C Motion Engine Code During Development To develop code that is downloaded to the C Motion Engine a communications link is required between the C Motion Engine and the PC based C Motion Engine development environment This link contains the information required for code downloads as well as other information utilized during application debugging While serial CANbus or Ethernet can all be used as the communications link typically this link is chosen to be Ethernet because it is significantly faster than the other two If the production machine network is also Ethernet then only one network need be used for both code d
46. ad from the trace buffer See the Magellan Motion Processor Users Guide for more information on these commands In this read Prodigy CMIE Machine Controller User s Guide Operation ro configuration the Magellan Motion Processor stores data to the DPRAM autonomously and the host controller reads the data using the Magellan Motion Processor as well An alternate path for reading from or writing to the dual ported RAM is via the Prodigy CME Machine Controller card s high speed communication bus In this mode the dual ported RAM is accessed via the PMD Resource Access Protocol 2 6 1 2 C Motion Commands There are a number of C Motion commands related to Magellan buffer operations Refer to the Magellan Motion Processor Users Guide for a detailed description of these commands To read or write to the dual ported RAM using the PRP system a resource address must first be obtained via the MemoryOpen command with memory type DPRAM To write data to the dual ported RAM the C Motion command MemoryWrite is used To read the contents of the dual ported RAM the C Motion command MemoryRead is used Note that byte sized memory operations are not supported to the dual ported RAM For complete information on the format and function of these commands refer to the PMD Resource Access Protocol Programmer s Reference 2 6 1 3 Connections amp Associated Signals There are no signals associated with this function 2 6 2 Non vola
47. adAl Axis Quadrature A encoder input 2 QuadAl Axis Quadrature A encoder input 3 QuadBI Axis Quadrature B encoder input 4 QuadBI Axis Quadrature B encoder input 5 GND Ground 6 Index Axis Index input 7 Index Axis Index input 8 HallA Axis Hall A input 9 HallB I Axis Hall B input 10 HallC I Axis Hall C input 11 Homel Axis Home input 12 PosLim Axis Positive direction limit switch input 13 NegLim Axis Negative direction limit switch input 14 Vcc 5V 15 GND Ground 3 2 3 2 Axis 2 Feedback Connector Pin Connection Description J17 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 Axis 2 Quadrature B encoder input 5 GND Ground 6 Index2 Axis 2 Index input 7 Index2 Axis 2 Index input 8 HallA2 Axis 2 Hall A input 9 HallB2 Axis 2 Hall B input 10 HallC2 Axis 2 Hall C input 11 Home2 Axis 2 Home input 12 PosLim2 Axis 2 Positive direction limit switch input 13 NegLim2 Axis 2 Negative direction limit switch input 14 Vcc 5V 15 GND Ground 3 2 3 3 Axis 3 Feedback Connector Pin Connection Description J18 QuadA3 Axis 3 Quadrature A encoder input 2 QuadA3 Axis 3 Quadrature A encoder input 3 QuadB3 Axis 3 Quadrature B encoder input 4 QuadB3 Axis 3 Quadrature B encoder input 5 GND Ground 6 Index3 Axis 3 Index input 7 Index3 Axis 3 I
48. age condition Prodigy CME Machine Controller User s Guide Operation L 2 5 3 5 Current Foldback D x 5 Current foldback also known as I t foldback is a general purpose tool to protect the drive output stage or the motor from excessive current Vt current foldback works by integrating over time the difference of the square of the actual motor current and the square of a user settable continuous current limit When the integrated value reaches a user settable energy limit Atlas goes into current foldback When in this condition and correctly programmed Atlas will attempt to clamp the maximum current to the continuous current limit value Note that the Atlas unit s ability to do so depends on a properly functioning current loop For more information refer to the Atlas Digital Amplifier Complete Technical Reference Atlas will stay in foldback until the integrator returns to zero This is shown in Figure 2 17 Continuous Integrated Figure 2 17 current limit energy limit Current exceeded exceeded Foldback ij Processing ENE ee ee EE eee eee Commanded Amos i i Example Current P Output Current Amps Integrated Energy Amp sec Each Atlas amplifier motor type has particular default and maximum allowed values for both the continuous current limit and energy limit These values are designed to protect the Atlas from excessive heat generation The table below shows these values Continuous Continuous Current Curren
49. are Most developer s kits are ordered with the L bracket for the reasons indicated above however there is no requirement to do so For complete mechanical drawings of the L bracket component see Section 3 8 L Bracket Mechanical Dimensions Prodigy CME Machine Controller User s Guide 13 rN Installation 1 3 4 L Bracket Atlas Installation When ordering the developer s kit you may choose to have the Atlas units mounted onto the L bracket or you may choose to have all the components shipped to you but not assembled Generally having the Atlas units already installed is recommended to simplify setup but there is no requirement for this and you can specify either configuration when you order the developer s kit 1 3 5 Developer s Kit Components List The Magellan Motion Processor Developet s Kit contains the following components e 4 axis Prodigy CME Machine Controller card e Optional L bracket hardware Prodigy CME SDK CD ROM containing C Motion and documentation in PDF format e Stub cable set for various card connectors e Pro Motion CD ROM Documentation Prodigy CME Machine Controller Users Guide e Magellan Motion Processor Users Guide Magellan Motion Processor Programmer s Command Reference PMD Resource Access Protocol Programmers Reference C Motion Engine Development Tools Pro Motion Users Guide Atlas Digital Amplifier Users Manual if DK ordered with one or more Atlas amplifiers If any of t
50. ation changes to give easy access to windows that are used while exercising the motion axes Prodigy CME Machine Controller User s Guide 31 rN Installation 3 Click the Trajectory button in the Axis Control window The Trajectory dialog box appears Trajectory Prodigy CME PR1358420 Axis 1 Profile mode Trapezoidal X Trajectory parameters Deceleration 10000 counts sec Acceleration 10000 counts sec Velocity 1000 00 S counts sec Motion Shuttle mode Position 1 0 E counts C Single move C Manual ae amp Automatic Position 2 1000 counts Dwell 0 2 S seconds Close 4 Inthe Profile mode list select Trapezoidal 5 Enter motion profiles for deceleration acceleration velocity and destination position Position 1 that are safe for your system and will demonstrate proper motion il Pro Motion provides various selectable units for distance and time but defaults to units of encoder counts or pulses for step motors for 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 sec2 Acceleration
51. bit word and the write value in the high 16 bit word To read back a previously written write value or mask or to read back the current actual output signals commands or to read back the current input signal states the command PeriphRead is used PIO space writes to the general purpose digital I O write value and mask register should always be made via a single call to PeriphWrite 66 Prodigy CME Machine Controller User s Guide Operation 2 6 3 2 Connections amp Associated Signals AmpEnable l 4 are direct digital outputs and appear on the card s Amplifier IO connector To function properly one or more of the digital grounds must be connected See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card 2 6 3 3 Electrical Interfacing The AmpEnable signals are generated using the following circuitry on card 5V Figure 2 19 A AmpEnable Output 20 Interfacing 1 AmpEnable y 14 10 74ACTS41MTCX Ww 2 6 4 Reset Monitor During normal operations the Prodigy CME Machine Controller card is only reset during power up There are however several other ways that the Prodigy CME Machine Controller card can be reset many of which are not related to a power cycle See Section 2 6 5 Card Reset for a description of how the card can be reset Whether via a power up or some other event a reset serves the purpose of initializing values and bringing the Prod
52. ce eect a nen e teen eden enone eenenens 92 3 8 L Bracket Mechanical Dimensions 0 cece cece cece cece nnn ene ene n enn ene en eens 93 3 9 Atlas Mechanical Dimensions cece ce eee cen nen e enn n eee e nent n enone en en enene 94 VINO NS os este 5 ecw aie ein 7h ois Sree tale Sesdie Sidi Sis Shin E ats orale arein iste eisigsteseraiesdcaueseraie Gaus T 95 Prodigy CME Machine Controller User s Guide v vi This page intentionally left blank Prodigy CME Machine Controller User s Guide List of Figures r 1 1 Prodigy CME Machine Controller Part Numbering s eee eect eee en cence eee 10 1 2 Machine Controller Card With and Without Atlas Units 0 cece cece eee eens 11 1 3 Developer Kit Components cece e eee eee nee e nent een n eee e eee ee ene eee 12 1 4 Prodigy CME Machine Controller DK Part Numbering 0s cece sent eee eneeeees 13 1 5 Prodigy CME Machine Controller Card Component Location e seen ee eee 19 1 6 L Bracket and Card Assembly 0 cece cece eee e teen ete cece ence ene eneneeenenens 20 1 7 Atlas Installation into Machine Controller Card 0 2 2 0 cece eee cence eee ene e eect eneaes 21 1 8 With Brushless DE Motor vc paca noiai eaa aE EAEE AAA EAA AREE 22 1 9 WithiDG Brush MoO E A AAE dena T AAE naan ede EA tae TENN EES 22 1 10 With 2 Phase Step MOtor ccc cece cece een cence nen ence eens eee e ee ene eee eneeeee 23 1 11 Power
53. code or any other PRP connected device depends on these values having been written it is recommended that you ensure that the write operation has been completed by adding code that explicitly checks the value or by waiting a fixed period of time after the NVRAM write operation 2 6 2 1 C Motion Commands To read or write to the non volatile RAM a resource address must first be obtained via the MemoryOpen command with memory type NVRAM To write data to the NVRAM the C Motion command MemoryWrite is used To read the contents of the NVRAM the C Motion command MemoryRead is used Prodigy CME Machine Controller User s Guide 65 2 Operation For complete information on the format and function of these and other commands refer to the PMD Resource Access Protocol Programmers Reference 2 6 2 2 Connections amp Associated Signals There are no signals associated with this function 2 6 3 Amplifier Enable The Prodigy CME Machine Controller cards provide four digital output signals directly controllable by the user that are intended to be used as amplifier enable signals one per axis If not used for this purpose these signals may be used as general purpose outputs The four AmpEnable digital output signals are controlled via a write register that holds the desired output signal levels along with a separate register that holds a write mask This register along with all of the registers used to control the amplifier enable signals is
54. d NegLim for Axis 3 Axis 4 Feedback J19 Provides differential or single ended motor encoder feedback signals such as Quad A B Index Hall A B C PosLim and NegLim for Axis 4 5V Power J20 Provides logic power to the board when HVI is not available CANI CAN2 J21 J22 RJ45 connector that provide connection to a CAN 2 0B network Serial J23 DB 9 serial port for RS232 or RS485 connections Ethernet J24 RJ45 connector that provide connection to an Ethernet TCP IP network 3 2 1 Atlas Connector The Atlas Connector J1 J4 is the socket that accepts Atlas the vertical single axis digital amplifier unit Prodigy CME Machine Controller Card User s Guide 77 4 Electrical Reference 3 2 1 1 78 Axis 1 Atlas Socket Pin Connection Description J1 GND Power return for HVI Motor A Motor B Motor C and Motor D 2 GND Power return for HVI Motor A Motor B Motor C and Motor D 3 HVI DC power to axis Atlas module referenced to GND 4 HVI DC power to axis Atlas module referenced to GND 5 Motor Al Axis motor output signal A 6 Motor Al Axis motor output signal A 7 Motor BI Axis motor output signal B 8 Motor BI Axis motor output signal B 9 Motor Cl Axis motor output signal C 10 Motor Cl Axis motor output signal C 11 Motor DI Axis motor output signal D 12 Motor DI Axis motor output signal D 13 Enablel An active low
55. e The maximum allowed value of the hysteresis parameter is 50 C and the default value is 5 C An overtemperature fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault It is generally desirable to power down Atlas to correct the condition If the overtemperature condition has been resolved when restart is attempted Atlas will resume normal operations If the overtemperature condition has not been resolved the condition will immediately occur again Overtemperature faults indicate that the internal safe limit of the drive temperature range has been exceeded This potentially serious condition can result from incorrect motor connections excessive power demands placed on the Atlas amplifier or inadequate heat sinking It is the responsibility of the user to operate Atlas within safe limits 2 5 3 3 Overvoltage Fault Atlas provides the capability to continually monitor and detect excessive voltages on the incoming voltage supply Such a condition may occur if there is a fault in the system power supply if a large back EMF electromotive force is generated during motor deceleration or if some other problem results in an elevated bus voltage To detect this condition a programmable bus voltage threshold is continuously compared to the bus voltage sensor If the value read from the internal sensor
56. e Atlas unit for each axis This cable may plug into the Prodigy CME Machine Controller card s J5 J8 connectors Cable 5002 01 5 signal Motor Drive cable This stub cable connects to the Motor Drive Connectors Cable 5003 01 44 signal General I O cable This cable provides connections for the high density DB 44 connector J13 Cable 5004 01 26 signal Amplifier I O cable This cable provides connections for the high density DB 26 connector J14 Cable 4705 KIT 01 R CANbus connector and terminator This cable connects to the card s CANbus connector and has RJ45 connectors on both ends Cable RJ45 02 R Ethernet connector This cable connects to the card s Ethernet connector Cable 1007 01 Serial connector This cable connects to the card s serial connector The following sections provide detailed information on each of these cables 3 4 1 Cable 5001 01 PMD Part Cable 5001 01 J5 J8 Signal Description 2 signal HV Power supply stub cable l HV Length 1 0 meter 2 Ground 3 4 2 Cable 5002 01 PMD Part Cable 5002 01 Description This stub cable connects to the Motor Drive J9 J12 Signal Wire Connectors Pin Color Length 0 meter l Motor A Red Cable 5 conductor 4 20mm pitch 6AWG stranded 2 Motor A White cables 3 Motor B Black 4 Motor B Brown 5 GND Green 88 Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 3 4 3 Cable 5003 01 PMD
57. e of any changes to these revisions in future production units purchased from PMD or to allow them to order specific revisions Along these lines the Prodigy CME Machine Controller card resource information that may be queried is the card logic version the device firmware version and the dual ported RAM size Prodigy CME Machine Controller User s Guide 69 2 Operation Figure 2 20 Overview of C Motion Engine Architecture 70 2 6 8 1 C Motion Commands To query the card logic version the C motion command DeviceGetLogicVersion is used To query the device firmware version the command DeviceGetVersion is used and to query the DP RAM size the command DeviceGetRAMSize is used 2 7 C Mlotion Engine Functions The C Motion Engine on the Prodigy CME Machine Controller card allows C Motion code to be downloaded and executed on the card The C Motion Engine is a powerful and flexible engine that can be used to Operate Prodigy motion cards in a standalone mode Offload time critical code from the host to the motion card e Create a complete machine controller that communicates via serial CANbus or Ethernet to a cell controller or other high level controller Extend the functionality of the Magellan Motion Processor with higher level functions such as contouring macros or other complex behaviors Lower system cost by combining a motherboard function with a dedicated motion card function in a single card format 2 7 1
58. e window These console messages may be useful for checking code progress displaying internal variables or for other code development related purposes The default console channel is none however this can be changed using the DeviceSet command with the Device resource specified as CANbus or Ethernet UDP 2 7 7 Downloading and Verifying User Application Code The C Motion Engine development system is used to create compile and download user application code The development system can download the file image for the current code project being worked on or a specific named file can be downloaded Downloaded files images end with a bin extension Only one code image file may be downloaded into the C Motion Engine at a time Downloading a new image automatically erases the previous code image There are times when it may be useful to read specific characteristics of a code file that has been downloaded into the C Motion Engine For example a host controller in a production environment may want to confirm that the host application code version actually loaded on the C Motion Engine matches the expected production code version To accomplish this the C Motion command DeviceGet is used Using this command the file name of the downloaded user application code the checksum of the downloaded file the date amp time of file creation and the version number of the C Motion Engine itself loaded by PMD at the Prodigy CME factory can be retri
59. ece cent een eee n ene ee en eenenes 54 2 13 Analog Input Interface 2 0 0 ieee cece cence nen een REEERE E 55 2 14 Analog Output Interface 2 0 ccc ccc cence nnn ence nen e teen Aa AAEE EAT 56 2 15 Serial Interface Schematic 0 cece cece eee ete nen n ene e een n cnet eee en en ee ene 58 2 16 CANbus Interface Schematic cece cece cence S e eee n ene tee E E 59 2 17 Current Foldback Processing Example cece eee eee cece eee n een ete een ea eenes 63 2 18 On card Dual ported Memory eos orreri sot cece eee eee e tence eee tent en ee teneeneanenes 64 2 19 AmpEnable Output Interfacing 00 c cece cence cece nnn eee e nen ene eeenenee 67 2 20 Overview of C Motion Engine Architecture cece cece cece cece cnet eee ee een ees 70 3 1 Components and Layout Front of Card ccc cece cece cece nen e nee e ence ene enenes 75 3 2 Prodigy CME Machine Controller Mechanical Dimensions se eee ee eee ees 92 3 3 L Bracket Base Mechanical Dimensions 0 cece cece cece nett nent e eee eae 93 3 4 L Bracket Vertical Plate Mechanical Dimensions sees eee eee eee e nen eeeees 93 3 5 Atlas Digital Amplifier Vertical Unit with Tabs Mechanical Dimensions 94 Prodigy CME Machine Controller User s Guide vii This page intentionally left blank viii Prodigy CME Machine Controller User s Guide 1 Installation In This Chapter Prodigy Family Overv
60. ed base vertical L bracket attach but do not fully tighten each fastener It may be necessary to adjust the position of the card on the base plate when attaching Atlas units to the vertical plate If attaching to the base plate only tighten the fasteners using moderate torque 4X ATLAS AMPLIFIER a i Peai y aA aad ye za 8X SCREWS S 5 7 Z o A N EO L BRACKET ASSEMBLY 1 9 3 Atlas Amplifier Electrical Installation If your machine controller card already has the Atlas amplifiers installed you may skip to Section 1 10 Connection Summary Figure 1 7 shows the machine controller card along with the correct orientation of the Atlas amplifier while installing into the card You will need to install all Atlas amplifiers that you plan to use with the machine controller card The motor type of the Atlas should conform to the motor type that will be utilized for that axis For example if your system has a DC brush motor at axis 1 and a step motor connected at axis 2 you should install a DC brush motor Atlas in the axis 1 socket and a step motor Atlas in the axis 2 socket Prodigy CME Machine Controller User s Guide Installation If you are using the full L bracket with vertical plate begin by mounting the pre cut thermal pads to each Atlas unit Carefully align the pads with the Atlas metallic backing and apply finger pressure to adhere the pads to the metal Once pressed in place the pads
61. ed to your computet s 9 pin serial port If your computer does not have a dedicated serial port a standard USB to serial converter should be used Figure 1 12 shows a typical serial port connection Figure 1 12 Serial Port Connection Prodigy CME Serial Port Host PC Port 2 unused L L Port tt Serial Port The Ethernet connection will not be made until serial communications are established See Section 1 12 2 Setting the Ethernet Parameters for detailed instructions on when to physically make the Ethernet connection When Ethernet is ready to connect use PMD s Cable RJ45 02 R and plug one end of the connector into J24 and the other end into your computer s Ethernet port Figure 1 13 shows the complete serial and Ethernet connection setup The communication connections are locatable on the card using Figure 1 1 Figure 1 13 Serial and Ethernet Connection Prodigy CME Serial Port Ethernet Port Host PC Port 2 unused ee Port Serial Port __ Ethernet Port 1 11 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 Prodigy CME Machine Controller s green power LED should light This LED is locatable as
62. ence These documents also describe Visual Basic Support and C Motion which are the software libraries that are used to send commands to the Magellan chip and exercise its many functions Prodigy CME Machine Controller User s Guide 39 40 Operation The manual that describes the PRP C Motion system is the PMD Resource Access Protocol Programmer s Reference To simplify the presentation of command names most portions of this manual will provide C Motion commands without the PMD preface The actual commands however should include the PMD preface For example the C Motion command given in the manual as PeripheralRead is actually called PMDPeripheralRead 2 2 3 Quadrature Encoder Input Each axis provides differential or single ended input of A amp B quadrature inputs along with an Index signal These signals provide position feedback to the motion controller which is used to track motor position For DC brush and brushless DC motors they are required for proper operation For step motors they are optional The encoder processing circuitry provides a multi stage digital filter of the QuadA QuadB and Index signals for each axis This provides additional protection against erroneous noise spikes thus improving reliability and motion integrity 2 2 3 1 C Motion Commands There are numerous Magellan C Motion commands that relate to the encoder feedback and index position including commands that retrieve capture com
63. er down Atlas to check connections or otherwise correct the Atlas attached hardware so that the problem does not occur again If the overcurrent condition has been resolved when restart is attempted Atlas will resume normal operations If the overcurrent condition has not been resolved the overcurrent condition will immediately occur again Over current faults are serious conditions and warrant the utmost caution before re enabling amplifier operation It is the responsibility of the user to determine the cause and corrective action of any electrical fault 2 5 3 2 Overtemperature Fault Atlas provides the capability to continually monitor and detect excessive internal temperature conditions Such a condition may occur if excessive current is requested if heat sinking of the Atlas unit is inadequate or if some other problem results in elevated drive temperatures Prodigy CME Machine Controller User s Guide 61 62 Operation To detect this condition a programmable temperature threshold is continuously compared to an internal temperature sensor If the value read from the internal sensor exceeds the programmed threshold an overtemperature fault occurs In addition a settable overtemperature hysteresis allows the user to ensure that the Atlas temperature drops by a specified number of degrees before allowing drive restart The maximum allowed setting for the temperature threshold is 75 0 C which is also the default valu
64. es When HV1 is present the 5V supply via J20 should not be used J20 uses the Molex 3 00 Pitch Micro Fit Header 2 signal single row vertical connector 3 2 2 1 Axis 1 Power Connector Pin Connection Description J5 HVI Provides DC power to the card and Axis Atlas module 2 GND Ground 3 2 2 2 Axis 2 Power Connector Pin Connection Description J6 HV2 Provides DC power to the Axis 2 Atlas module 2 GND Ground 3 2 2 3 Axis 3 Power Connector Pin Connection Description J7 HV3 Provides DC power to the Axis 3 Atlas module 2 GND Ground 3 2 2 4 Axis 4 Power Connector Pin Connection Description J8 HV4 Provides DC power to the Axis 4 Atlas module 2 GND Ground 3 2 3 Feedback Connector The Feedback Connector J16 J19 in Figure 3 1 provides connections to various motor feedback signals The Feedback Connector uses the 15 pin high density DB connector which can be connected to PMD Cable 5005 01 Please refer to Section 3 4 Cables for detailed information on Prodigy CME Machine Controller cable specifications For brushless DC motors it also connects the Hall effect signals typically used to commutate the motor The Halls are not used with the DC brush or step motors 80 Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 3 2 3 1 Axis 1 Feedback Connector Pin Connection Description J16 Qu
65. ess 0 0x800 0x600 After a reset or at power up the card retrieves default information for the CANbus port from the card s non volatile RAM See Section 2 6 6 Setting Card Defaults for more information on changing these default values 2 4 2 1 C Motion Commands To create a CANbus peripheral connection the above parameters are specified in the C Motion command PeriphOpenCAN Messages to and from the CANbus port are transmitted via the PeriphSend and PeriphReceive commands 2 4 2 2 Connections amp Associated Signals J21 and J22 provide standard RJ 45 connectors to connect to a CANbus network See Section 3 2 9 CAN Connectors for a detailed signal description of the CAN connectors 58 Prodigy CME Machine Controller User s Guide Operation ro 2 4 2 3 Electrical Interfacing Jel Figure 2 16 CANbus Interface Schematic 3v3 3v3 A NOURWM Ill UNPOP R249 US1 RES 0045 01 A00 108 620 450 IC 0014 01 ERJ 3GEYJ472V CONN 0074 02 4 7K ceo j CAP 0004 02 C1005X5R1E104M O 1uF CAN_TX gt gt CAN CAN wl NI 0 CAN RX lt lt R251 RES 0013 02 SN6SHV D233DRG4 RCO402FR 0710KL 10K ee elj i Nourone v A00 108 620 450 CONN 0074 02 lt 2 4 3 Ethernet Communications The Prodigy CME Machine Controller cards support two different Ethernet protocols TCP Transmission Control
66. eved Prodigy CME Machine Controller User s Guide 73 2 Operation For complete information on the format and function of these and other C Motion calls refer to the PMD Resource Access Protocol Programmers Reference 2 7 8 C Motion Engine Heartbeat LED The Prodigy CME Machine Controller card utilizes an LED labeled D3 locatable using Figure 1 5 to provide visual confirmation of C Motion Engine activity Two different states can be distinguished user application code running and user application code not running User application code running means that a file has been downloaded and is actively being executed by the C Motion Engine This is indicated by a steady on off blinking of the LED once per second If no user application code has been downloaded or if code execution has been halted by the user or for some other reason the LED changes to a chirp indication with a blinking pattern consisting of very brief on followed by one second off 2 8 Software Libraries PMD provides software libraries in C C as well as Visual Basic to access all of the functions provided by the Prodigy CME Machine Controller cards In addition a special library of commands is used to access Magellan Motion Processor functions called VB Motion and C Motion The PMD Resource Access Protocol Programmers Reference in addition to providing detailed format and function descriptions of the PRP messages associated with the Prodigy CME Machine Co
67. evelopment and operation of the machine It is also possible to use separate communication channels so that one type of link is used for code development and download and another for the application communications This has the advantage that application and code development traffic are not intermingled For example in a production machine control application that involves a PC and two Prodigy CME Machine Controller cards communicating via CANbus Ethernet can be used as the development link while the application software contained in the C Motion code will send and receive messages using the CANbus port Most combinations of application and download debug link selection are allowed However the exception is the serial port If one serial channel is used as the application link the other serial port or the CANbus or Ethernet port must be used for the download link This is because unlike CANbus and Ethernet ports serial ports do not support multiple conversations within a single physical port Selecting which Prodigy CME Machine Controller channel will be used for download is specified via the C Motion development system For more information see the C Motion Engine Development Tools manual 2 7 6 Debug Console Window During development the user can use procedure calls similar to printf from the downloaded application on the C Motion Engine to send messages to the PC Development Environment for display in a special consol
68. exceeds the programmed threshold an overvoltage fault occurs The maximum allowed setting for the overvoltage threshold is 60 0 volts which is also the default value The minimum allowed threshold is 10 0 volts An overvoltage fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault In most cases it is desirable to power down Atlas to correct the condition If the overvoltage condition has been resolved when restart is attempted Atlas will resume normal operations If the overvoltage condition has not been resolved the condition will immediately occur again Overvoltage faults indicate that a serious safety condition has occurred It is the responsibility of the user to operate Atlas within safe limits 2 5 3 4 Undervoltage Fault Atlas also provides the capability to sense undervoltage conditions This value is compared to the value read from the drive DC bus and if the value read is less than the programmed threshold an undervoltage fault occurs The minimum allowed value for this threshold is 10 0 volts which is also the default value The maximum allowed value is 56 0 volts All other aspects of this feature are the same as for overvoltage sense Just as for overvoltage conditions it is the user s responsibility to determine the seriousness of and appropriate response to an undervolt
69. f information regarding any third party s products or services does not constitute PMD s approval warranty or endorsement thereof Prodigy CME Machine Controller User s Guide Mboo Related Documents Magellan Motion Processor User s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its operation 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 Magellan Motion Processor Programmer s Command Reference Descriptions of all Magellan Motion Processor commands with coding syntax and examples listed alpha betically for quick reference PMD Resource Access Protocol Programmer s Reference Descriptions of all Prodigy CME product commands with software architecture overview command syn tax and examples C Motion Engine Development Tools Description of the C Motion Engine hardware resources development environment software tools and command set 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 paramete
70. g the Ethernet Parameters for a description of changing the IP address 1 12 5 Initializing Motion Axes The next step to verify the correct operation of the system is to initialize each axis of the motion system sequentially thereby verifying correct amplifier connection encoder feedback connections ifan encoder is used and other motion functions All of this can be conveniently accomplished using Pro Motion s 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 Click to select the axis icon that you would like to initialize normally this would be Axis 1 in the Project window to the left of the screen 2 With this icon highlighted click the Axis Wizard toolbar button 30 Prodigy CME Machine Controller User s Guide Installation The Axis Wizard initialization window appears Axis 1 Wizard Welcome to the Axis Wizard 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 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 3 5 minutes If you have specific questions about the Ax
71. gital inputs are TTL compatible with typical input range of 0 5 5V The absolute maximum input range is 0 5 7V The general purpose digital outputs are 5V TTL compatible with an output sink source current of 24mA 2 3 2 Digital Inputs There are 12 general purpose digital inputs 4 dedicated inputs 8 bi directional The status of these signals are contained in the lower 12 bits of a C Motion returned 16 bit word The following table correlates the signals input with the bits of this returned word Signal Name General IO Bit No Connector Pin No Digitalln 28 0 Digitalln2 29 l Digitalln3 43 2 Digitalln4 44 3 DigitallO 9 4 DigitallO2 10 5 DigitallO3 II 6 DigitallO4 25 7 DigitallO5 26 8 DigitallO6 27 9 DigitallO7 40 10 DigitallO8 41 11 Prodigy CME Machine Controller User s Guide Operation 2 2 3 3 Digital Outputs There are 12 general purpose digital outputs 4 dedicated output 8 bi directional These digital output signals are controlled via a write register that holds the desired output signal levels along with a separate register that holds a write mask Each bit position in the write mask with a value of one will result in the value in the corresponding bit of the write register becoming the commanded digital output value for that signal Each bit position in the mask with a value of zero will result in the corresponding bit of the write value being ignored A separate registe
72. hese C Motion commands consult the Prodigy CME Programmer Reference 2 6 7 Card Undervoltage Monitor The Prodigy CME Machine Controller cards provides an internal logic undervoltage detection circuit An undervoltage condition occurs when the card s 3 3V internal voltage drops below 2 7V If a card undervoltage condition occurs the card will be automatically reset See Section 2 6 5 Card Reset for more information on the signal and other conditions affected by a card reset See Section 2 6 4 Reset Monitor to determine if a reset was caused by an undervoltage condition An undervoltage fault is a very serious condition On the occurrence of an undervoltage fault the user should immediately power down the card and determine the cause of the fault before repowering the card 2 6 7 1 C Motion Commands There are no user settable parameters associated with this feature See Section 2 6 4 Reset Monitor for a description of the reset monitor and how to determine what type of reset occurred 2 6 8 Card Resource Information There are various resources on the machine controller that contain programmable or otherwise changeable logic It may be beneficial to the user to be aware of revision information associated with these logic or firmware entities In general once the user has developed his motion application they may want to query and record the card resource revision information so that they can be awar
73. hese components are missing please contact your PMD representative 1 4 Software Four major software packages are provided with the Prodigy CME Machine Controller cards Pro Motion an interactive Windows based exerciser amp software development tool C Motion aC language library that allows you to create motion applications using the C programming language C Motion Engine Development Tools a set of development resources that allow you to create download and monitor programs loaded in the Prodigy CME Machine Controller card s C Motion Engine Visual Basic Support a DLL and source code that lets you create motion applications using the Visual Basic programming language Here is more information on each of these software packages 14 Prodigy CME Machine Controller User s Guide Installation Ay 1 4 1 Pro Mlotion Pro Motion is a sophisticated easy to use exerciser program which allows all card parameters to be set and or viewed and allows all card features to be exercised Pro Motion features include e Motion oscilloscope graphically displays motion processor parameters in real time e Axis Wizard to automate axis setup and configuration Interactive servo tuning e Atlas Amplifier setup and configuration e Project window for accessing motion resources and connections e Ability to save and load current settings e Distance and time units conversion e Mototr specific parameter setup e Axis shuttle performs continuou
74. ht to make changes to its products or to discontinue any product or service without notice and advises customers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement including those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage Products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is under stood to be fully at the customer s risk In order to minimize risks associated with the customer s applications adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other 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 o
75. ic events to occur Addresses allow access to a specific resource on the card or connected to the card via the serial CANbus or Ethernet connections A basic communication to the Prodigy CME Machine Controller card consists of a 16 bit PRP header and an optional message body The message body contains data associated with the specified PRP action but some actions do not require a message body After a PRP communication is sent to the card a return communication is sent by the Prodigy CME Machine Controller card which consists of a PRP header and an optional return message body The return message body may contain information associated with the requested PRP action or it may contain error information if there was a problem processing the requested action There are five different resource types supported by the Prodigy CME Machine Controller card The Device resource indicates functionality that is addressed to the entire card the MotionProcessor resoutce indicates a Magellan Motion Processor the CMotionEngine resource indicates the C Motion Engine the Memory resource indicates the dual ported RAM and the non volatile RAM Random Access Memory and the Peripheral resource indicates a communications connection the digital and analog I O functions or other on card registers There are ten different PRP actions including Command which is used to send commands to resources such as the Magellan Motion Processor Send and Receive which are used t
76. iew Prodigy CME Machine Controller Card Types Software Accessory Products Installation Sequence Recommended Hardware Software Installation Preparing the Card for Installation Connection Summary Applying Power First Time System Verification vVvvvvVvVVVVVVVY Developing User Application Code 1 1 Prodigy Family Overview The Prodigy family of motion control cards provide high performance control of DC brush brushless DC and step motors They are available in four formats PCI bus PC 104 bus Stand Alone and Machine Controller and allow multiple forms of communication including PCI bus PC 104 bus serial CANbus and Ethernet All Prodigy cards are based on PMD s Magellan Motion Processors which perform high speed motion control functions such as profile generation servo loop closure pulse amp direction signal generation and many other real time functions Certain versions of Prodigy cards include a C Motion Engine CME which allows the user to offload application code from the host onto the motion card The Machine Controller cards provide the option of on board amplification via PMD s Atlas Amplifiers The following product selector table summarizes the various members of the Prodigy motion card family and associated User s Guide documentation Motion On board Prodigy P N Format Engine Amplifier User Guide PR8258x20 PC 104 No No Prodigy PC 104 User s Guide PR8358x20 PC 104 Yes No
77. igy CME Machine Controller card to a known and consistent state To determine the cause of a card reset a C Motion command can be sent to read the reset source The following table details the encoding of this word which can be read via the Reset Cause register of the Peripheral I O space 1 0 Bit Address Location Signals 2 0 10 Reserved 11 C Motion Engine user application code fault A value in this bit indicates an instruction or address access fault 12 Commanded reset A value in this bit indicates a card level reset commanded via a C Motion command 13 Undervoltage detection a value in this bit indicates a reset caused by undervoltage detection 14 Reserved 15 Magellan Watchdog timeout a value in this bit indicates a reset caused by the card watchdog timeout See Section 2 3 4 Card Watchdog Timer for a description Note that after a card power cycle this register will always contain 0x2000 indicating an undervoltage condition The most common use of this feature is as a safety check contained in user application code residing on the C Motion Engine Since user application code most often automatically executes after card powerup a check of this register by the user application code will allow anomalous occurrences of a card reset to be flagged and investigated Prodigy CME Machine Controller User s Guide 67 2 Operation 68 Another common use is to determine the nature of a Magellan reset
78. ine controller axis For each axis there is a feedback connector a motor drive connector and a motor power connector Figure 1 8 Motor Power 7 Connector With Brushless Ke arena DC Motor Motor 3 Phase Drive Brushless Connector DC Motor Motor A Sy h Prodigy CME Brushless 1 ine DC Machine Controller Motor B 7 Magellan Internal Atlas Motion Processor SPI Bus Digital Amplifier Hall Sensor Feedback Feedback Encoder Feedback Connector Motor Power Connector HV Pwr_Gnd Figure 1 9 Motor With DC Brush Drive Motor Connector DC Brush Motor Prodigy CME Motor A Machine Controller DC Brush Magellan Internal Atlas Motion Processor SPI Bus Digital Amplifier Feedback Connector Encoder Feedback 22 Prodigy CME Machine Controller User s Guide Installation 4 Motor Power Connector Figure 1 10 HV Pwr_Gnd With 2 Phase ead Step Motor rive Connector Motor A Bors o gt Prodigy CME e SS i Machine Controller Step Motor Motor 7 Motor B Magellan Internal Atlas Sanh Motion Processor SPI Bus Digital NNN Amplifier Motor C Feedback Connector Optional Encoder Feedback You will need signals on each of these connectors to properly install the machine controller card with the attached motors The following three sections detail how this should be done 1 10 1 Motor Feedback Connections The following table summarizes the m
79. input and output and various bit oriented control registers The following table shows the machine controller s Peripheral I O address map Address Function Read Write Comments 0x100 0x120 SSI configuration register Read amp Write 0x100 is a bit encoded register that 0x140 0x160 controls the axis SSI format SSI enable disable status and SSI clock direction 0x120 controls for axis 2 etc up to 0x160 which controls these parameters for axis 4 0x102 0x122 SSI resolution register Read amp Write 0x102 is a 16 bit register that holds 0x142 0x162 the SSI Absolute encoder word resolution for Axis 0x122 holds the resolution for axis 2 etc up to 0x162 which holds the resolution for axis 4 0x104 0x124 SSI frequency register Read amp Write 0x104 is a 16 bit register that holds 0x144 0x 164 the SSI clock frequency for Axis 0x122 holds the frequency for axis 2 etc up to 0x162 which holds the frequency for axis 4 0x200 General purpose digital Read The 12 available input bits are stored input values in the low 12 bits of this register 0x210 General purpose digital Read amp Write The 12 available output bits are output write value stored in the low 12 bits of this register 0x212 General purpose digital Read amp Write The 12 bit output mask is stored in output write mask the low 12 bits of this register 0x218 Amplifier enable signal Read amp Write The 4 available output bits are stored wri
80. interference and reduced immunity to ESD electro static discharge Prodigy CME Machine Controller User s Guide Installation 1 10 3 Motor Power Connections Pwr_Gnd Power Supply Figure 1 11 Hv Power Connections Atlas Atlas Power Power Prodigy CME Machine Controller The following table summarizes the motor power connections from the Prodigy CME Machine Controller to your power supply Each motor driven by an Atlas amplifier must have separate power provided to it Although most applications will power each axis at the same voltage from a common supply different voltages may be connected if desired In addition axis 1 motor power should always be provided whether or not an Atlas is installed at that axis Axis 1 is the power connection from which the card logic power is derived using on board DC DC converters Note that under some circumstances it may be desirable to provide just the 5V card logic power This can be done via connector J20 however power should only be applied at J20 if no power is applied to Atlas 1 Between one and four axes may be powered depending on the specific machine controller card and application requirements All connections are made through the Motor Power Connectors which are male two conductor Molex Mini Fit Plus 2 style connectors If you have ordered the developer s kit version of the machine controller you may find it convenient to use the provided motor powe
81. ion source code which may be used for developing motion applications in C C based on the Magellan Motion Processor e Visual Basic Libraries a DLL and example source code which may be used for developing motion applications in Visual Basic based on the Magellan Motion Processor PDF versions of the included manuals The 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 1 9 Preparing the Card for Installation Figure 1 5 shows the location of the resistor packs JS1 JS2 JS3 along with other components such as Atlas sockets and connectors These items are listed in the table below 18 Prodigy CMIE Machine Controller User s Guide Installation Figure 1 5 Prodigy CME Machine Controller Card Component Location Magellan cP Card Components The following table describes selected components on the card as shown in Figure 1 5 and their functionality Label Description JSI JS3 Resistor packs JI J2 J3 J4 Axis 1 2 3 and 4 Atlas sockets respectively J5 J6 J7 J8 Axis 1 2 3 and 4 Motor Power connectors respectively J9 J10 J11 J12 Axis 1 2 3 and 4 Motor Drive connectors respectively J13 General I O Connector J14 Amplifier 1 O Connector jis Expansion Connector J16 JI7 J18 J19 Axis 1 2 3 and Motor Signal connectors re
82. ion 2 1 2 Peripheral I O Space 2 2 4 4 Connections amp Associated Signals The signals that support SSI are shared with the quadrature signals Therefore when an SSI encoder is connected it is not possible to have incremental quadrature connections also input to the card All of the SSI signals are located on the Axis Feedback Axis connectors The following tables shows how to connect SSI encoders SSI Absolute Prodigy CME Machine Controller Signal name Signal name Data QuadB Data QuadB Clock QuadA Clock QuadA In addition to these signals a digital ground should be connected A 5V output on each Axis Feedback connector is also available and can be used to power the SSI encoder circuitry See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card 2 2 4 5 Electrical Interfacing Refer to Figure 2 2 for the QuadA QuadB and Index input on card circuitry Prodigy CME Machine Controller User s Guide Operation ro 2 2 5 Home Limits Hall Sensors These signals are conditioned by the card and input directly to the Magellan Motion Processor The Magellan Motion Processor Users Guide explains the functions provided in connection with these various signals Most of the signals are optional and are connected depending on the nature of the application Hall sensors are used only when connecting to brushless DC motors 2 2 5 1 C Motion Commands
83. is Wizard refer to the Pro Motion Users Guide for detailed information Upon a normal completion of the Axis Wizard the axis will be ready to make a controlled move 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 when commutated by the Magellan Motion Processor 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 for technical assistance The Axis Wizard auto tuning routine which is used with servo motors is 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 servo parameters Values provided by the Axis Wizard during auto tuning may or may not be safe for your system and it is up to the user to determine if and when they should be used 1 12 6 Performing a Simple Trajectory Move The last step in first time system verification is to perform a simple move for each axis To perform a simple move 1 Inthe Project Window select the motion axis that you would like to move by clicking the corresponding icon 2 Click the Axis view button on the far right of the toolbar Alternatively click Axis View on the Axis menu Your screen organiz
84. isOut signals This is a high density DB 26 connector Pin Connection Description Pin Connection Description J14 AmpEnable Axis amplifier enable signal 2 AmpEnable2 Axis 2 amplifier enable signal 3 GND Ground 4 Axisln Axis Axisin input 5 AxisIn2 Axis 2 Axisin input 6 AGND Ground for analog signals 7 AnalogOut Analog output 8 AnalogOut2 Analog output 2 9 AnalogOut3 Analog output 3 10 AmpEnable3 Axis 3 amplifier enable signal II AmpEnable4 Axis 4 amplifier enable signal 12 GND Ground 13 AxisIn3 Axis 3 Axisln input 14 AxisIn4 Axis 4 AxisIn input I5 AnalogOut4 Analog output 4 l6 AnalogOut5 Analog output 5 I7 AnalogOut6 Analog output 6 18 AGND Ground for analog signals 19 AxisOut Axis AxisOut output 20 AxisOut2 Axis 2 AxisOut output 21 AxisOut3 Axis 3 AxisOut output 22 AxisOut4 Axis 4 AxisOut output 23 GND Ground 24 AGND Ground for analog signals 25 AnalogOut7 Analog output 7 26 AnalogOut8 Analog output 8 3 2 7 Expansion Connector This connector supports multi card synchronization and an external RESET signal Depending on whether the card is a master or slave the SyncOut only or both SyncIn and SyncOut signals are used This is a Molex 2 00 mini pitch header vertical shrouded connector Pin Connection Description Pin Connection Description J15 Reserved Reserved signal 2 Reserved Reserved signal 3 Reserved Reserved signal 4 Syncln Multiple cards Syncln signal 5 GND
85. ller card the Magellan uses its high speed parallel word communications mode to connect to the card s internal communications bus which allows the Magellan to be controlled via the C Motion Engine or via an external host controller connected to the Prodigy CME Machine Controller card by serial CANbus or Ethernet port 2 2 1 Example Magellan Instructions The Magellan instruction set is very flexible and powerful The following example which sets up and executes a simple trapezoidal profile illustrates just a small part of the overall command set In addition this small sequence will introduce you to the look and feel of C Motion PMD s C language callable motion interface that handles communications to and from all machine controller card resources In the Magellan user s guide commands are called instructions and are often denoted via mnemonics The sequence that we will execute is shown below in mnemonic notation with comments included after the SetProfileMode Axis trapezoidal II set profile mode to trapezoidal for axis SetPosition Axis 12345 load a destination position for axis SetVelocity Axis 223344 I load a velocity for axis SetAcceleration Axis 1000 load an acceleration for axis SetDeceleration Axis l 2000 load a deceleration for axis Update Axis Double buffered registers are copied into II the active registers thereby initiating the move 2 2 2 Example C Motion Commands Here i
86. located in the Peripheral I O space PIO See Section 2 1 2 Peripheral I O Space for a complete description of this space Each bit position in the write mask with a value of 1 will result in the value in the corresponding bit of the write register becoming the commanded digital output value for that signal Each bit position in the mask with a value of zero will result in the corresponding bit of the write value being ignored A separate register can be read to determine the actual output signal commands This register can not be directly written to To change the actual output signal commands the write value and write mask registers described above must be used For convenience the following table correlates the signal outputs with the bits of the write register and mask Signal Amplifier IO Connector Bit No of write register Name Pin No and mask register AmpEnable l 0 AmpEnable2 2 AmpEnable3 10 2 AmpEnable4 II 3 The power up default value for all amplifier enable signals is low disabled 2 6 3 1 C Motion Commands To set or retrieve the value of the machine controller s AmpEnable outputs the user must first open a Peripheral of type PIO This is accomplished using the C Motion command PeriphOpenPIO Using the returned Peripheral handle the user can write the 16 bit word value and mask using the C Motion command PeriphWrite Note that a single two word write must be used with the write mask in the low 16
87. lts There are a number of user settable parameters that are saved by the card in non volatile RAM and that are utilized after a powerup or after a card reset The following table shows these parameters and provides the initial factory default values Parameter Factory default value Ethernet Communications IP Address 192 168 2 2 Net Mask 255 255 255 0 Gateway 0 0 0 0 PRP Port 40100 Serial Communications Serial settings 57600 no parity 8 data bits stop bit Serial 2 settings 115200 no parity 8 data bits stop bit Prodigy CME Machine Controller User s Guide Operation 2 Parameter Factory default value RS485 duplex Full CANbus Communications Baud Rate 1 000 000 Send Address 0x580 Receive Address 0x600 Task Control amp User Application Code Auto start y n No Debug Console channel None If desired new default values can be stored by the user Note that the updated defaults will only take effect after a card reset The default values are stored in the cards NVRAM area As such writing and reading operations to the default value area involves special considerations See Section 2 6 2 Non volatile Memory for more information on NVRAM memory operations 2 6 6 1 C Motion Commands The C Motion command DeviceSetDefault is used to set new default values The command DeviceGetDefault is used to read these values back For detailed information on t
88. n Engine Resource Specification MIPS millions of instructions per second 96 User program space stored in flash 256KB User data RAM space 8 KB User code stack space 8 KB 2 7 2 Powerup amp Operation Upon reset or powerup the C Motion Engine initializes itself and checks to see whether execution of user application code if downloaded should automatically begin If the factory default settings have not been changed user application code automatically begins executing and continues until the card is powered down or until a specific stop executing command is given If this default value is changed then the C Motion Engine will hold in a wait state and code execution will not occur automatically While there are numerous safety checks and features built into the C Motion Engine system application code developed for the C Motion Engine is C based and thus there are limits to code size RAM usage and stack usage that should be observed during runtime operation of downloaded C Motion code The table above provides these numerical limits For user downloaded code that does not correctly observe these limits or for files that have become corrupted there are a number of fault conditions that can occur while the C Motion Engine is executing downloaded user application code These very serious run time faults include instruction errors indicating that an unknown instruction was encountered during execution of the user s
89. n een ence nen eenenens 32 Chapter 2 Operation cco csser ore 5 0206 5 ais oie 6 naain niece RAE a CETATE RETIREE RTRS 35 2 1 Card FUNCTION SUMMARY 635 ciara neg a a taht giclee eee bs aeudiee ee un dateole eat 36 2 2 Magellan Functions as joccircedeeeves dietad E E E tet TE aie bid alice iano donde 38 2 3 ZO FUNCIONS asies ied sien ends chattel daa eta ola ahead cath oe duel Mavvicin atone lel Maateenatesg tino ine eds 50 2 4 COMMUNICATIONS FUNCHONS se si bees Ws bee ce ses ROS bee eases A ne sa gee seed eres 56 2 5 Atlas Amiplifier FUR CONS a iess 5 cys ehis aaa i 4 av Ge T 4 GN ARESE EWG AAA eats 60 2 6 General Card FUNCTIONS once i nni a weddnnd Vina hes shader od Meads eddetainad seas 64 2 7 C Motion Engine FUNCTIONS pee cece cece N E eee e een enn eee es 70 2 8 Software Libraries 3 00 veccissd E AAA AEEA OE EAN EAA aca UA A AEREA 74 Chapter 3 Electrical Reference ssssossessssoesossessessesssoosessosoesossoeo 75 3 1 User Settable COMPONENTS cece ccc ee eee e ne nee eee eden ene eee n en enees 75 3 2 CONMECLOMS oie AE i AES ade oak E EET leew er AET E ANARE tetleule EA 76 3 3 Motor Connections r Mee a ance A a EA A A a E EER 87 3 4 Cables ea E EA E EE vod vied ak E E E E E S 88 3 5 Absolute Maximum RatingS 0 cece cece cece nner ene een n enn ence teen een en enene 91 3 6 Environmental and Electrical RatingS cece cece cece een enn ence nen en nen eenenens 91 3 7 Mechanical Dimensions 0 cece ce
90. ndex input Prodigy CME Machine Controller Card User s Guide 81 4 Electrical Reference 8 HallA3 Axis 3 Hall A input 9 HallB3 Axis 3 Hall B input 10 HallC3 Axis 3 Hall C input II Home3 Axis 3 Home input 12 PosLim3 Axis 3 Positive direction limit switch input 13 NegLim Axis 3 Negative direction limit switch input 14 Vcc 5V I5 GND Ground 3 2 3 4 Axis 4 Feedback Connector Pin Connection Description J19 l QuadA4 Axis 4 Quadrature A encoder input 2 QuadA4 Axis 4 Quadrature A encoder input 3 QuadB4 Axis 4 Quadrature B encoder input 4 QuadB4 Axis 4 Quadrature B encoder input 5 GND Ground 6 Index4 Axis 4 Index input 7 Index4 Axis 4 Index input 8 HallA4 Axis 4 Hall A input 9 HallB4 Axis 4 Hall B input 10 HallC4 Axis 4 Hall C input 11 Home4 Axis 4 Home input 12 PosLim4 Axis 4 Positive direction limit switch input 13 NegLim4 Axis 4 Negative direction limit switch input 14 Vcc 5V 15 GND Ground 3 2 4 Motor Drive Connector The Motor Drive connectors J9 J12 provide motor output signals for use with brushless DC DC brush or step motors These are Molex 4 20mm Pitch Mini Fit Plus HCS series single row vertical connectors 3 2 4 1 Axis 1 Motor Connector Pin Connection Description J9 Motor Al Axis motor output signal A 2 Motor BI Axis motor output signal B 3 Motor Cl Axis motor output signal C 4 Motor DI Axis
91. ne or more of the card network or digital I O ports are typically used to interface to buttons or other devices This is also a common configuration for machines that will interface to a central PLC Programmable Logic Controller By supporting application code on the host controller as well as downloaded directly on the card the user is provided with multiple options for optimizing the control architecture of their machine and locating their software on the hardware platform that will best match their machines operational and performance requirements Prodigy CME Machine Controller User s Guide 33 rN Installation 34 1 13 2 C Motion Engine The C Motion Engine Development Tools manual provides a complete description of how to create C Motion code that can be downloaded onto the Prodigy CME Machine Controller s C Motion Engine The C Motion Engine development environment operates on the PC Code is edited compiled linked downloaded and monitored via programs that reside on the PC Systems which have high level PC based code concurrently sending commands to the Prodigy card can locate that code on the same PC as the one used for C Motion code development or on a separate PC All of these considerations and much more are discussed in the C Motion Engine Development Tools Manual which includes a convenient Getting Started section that introduces the C Motion Engine IDE Integrated Development Environment and walks you through an e
92. ntial analog inputs The A D sampling resolution is 16 bits and the range of the returned value is 32 767 to 32 767 where 32 767 10V and 32 767 10V The Prodigy CME Machine Controller receives both single ended and differential analog inputs as shown in the following table and Figure 2 12 When used in single ended configuration AnalogIn should be connected to ground of the transmitter When used in differential configuration AnalogIn and AnalogIn are connected to the differential output of the transmitter In addition it is recommended to connect the ground of the transmitter to AGND of the card Please refer to Figure 2 12 Analog Input Characteristics Value Range Input signal voltage range Resolution Maximum recommended input signal frequency 10V to 10V 16 bits 2 Khz Throughput 40 kilo samples per second Integral non linearity error typical LSB Integral non linearity maximum Overvoltage protection Common mode range 3LSB 30V to 30V 12V to 15V Typical differential impedance 28 Kohms Common mode rejection ratio minimum 86 db To determine the numerical value that will be read by the Prodigy CME Machine Controller card given a specific voltage at the input pins the following formula is used ReadValue Analog Voltage 32 767 10 0V Conversely given a read value the voltage at the connection is calculated as AnalogVoltage
93. ntroller cards also provides the equivalent C and Visual Basic library calls There is often but not always a direct correspondence between PRP messages and C language software commands as they will be used for user application code to be executed in the host controller or in the C Motion Engine 2 8 1 C Language Code Running on the C Motion Engine One of the most powerful features of the software libraries provided for the Prodigy CME Machine Controller card is that the code sequence used to accomplish a specific function such as accessing the dual ported RAM or sending commands to the Magellan Motion Processor does not change whether the code is compiled for execution on the host controller or for execution on the C Motion Engine This allows motion control applications developed using C Motion on a host computer to be easily ported to the Prodigy CME Machine Controller card The C Motion Engine provides a C programming environment for motor control without requiring the time consuming development of the entire embedded framework Only the part unique to a specific motor control application must be provided 74 Prodigy CME Machine Controller User s Guide 3 Electrical Reference r In This Chapter User Settable Components Connectors Connections Summary Motor Amplifiers Cables Environmental and Electrical Ratings Mechanical Dimensions User 1 O Memory Map vvvvvvyv 3 1 User Settable Components Figure 3 1 illustrates
94. o communicate using the serial CANbus and Ethernet ports Read and Write which are used to access memory type devices such as the on card dual ported RAM and the non volatile RAM and Set and Get which are used to load or read parameters 36 Prodigy CME Machine Controller User s Guide Operation ro For complete information on the format and function of PMD Resource Access Protocol refer to the PMD Resource Access Protocol Programmers Reference functions of interest to them most users will not need to know all of these details Most users will prototype motion sequences using PMD s Pro Motion Windows based motion development application and will use PMD s high level C Motion library to develop user application code C Motion provides many direct function calls which hide the low level details of communication and card architecture so that the user may directly access the card Although it may be useful to be familiar with the machine controller s command processing architecture I In the subsequent sections of this chapter the C Motion library functions used to access the available card functions will be provided along with the descriptions of the card functions themselves 2 1 2 Peripheral I O Space Some of the machine controller s bit and word oriented resources are accessed through what is known as the Peripheral I O address space also called PIO for short This includes analog input and output digital
95. ockets are always installed Prodigy CME Machine Controller User s Guide Installation Figure 1 2 Machine Controller Card With and Without Atlas Units Se fy A py AA re ge gt A fi u qo 0 7 Y MA A 2 11 Prodigy CME Machine Controller User s Guide rN Installation Figure 1 3 Developer Kit Components 12 1 2 4 Hardware Configuration The Prodigy CME Machine Controller cards support two different on card memory configurations one with standard memory installation and one with enhanced memory installation The following table shows this Memory Configuration On card dual ported RAM Standard 128 Kbytes Enhanced 468 Kbytes The standard memory configuration is sufficient for most applications however applications that require large trace storage memory may benefit from the enhanced memory option 1 3 Machine Controller Developer s Kit To simplify development a Machine Controller Developet s Kit is available Some of the components of this developer s kit are shown in Figure 1 3 ATLAS AMPLIFIERS ATLAS MC CARRIER CARD ASSEMBLY L BRACKET ASSEMBLY Prodigy CMIE Machine Controller User s Guide Installation 4 1 3 1 Miachine Controller Developer s Kit Part Number PRK33 58 120CPL1 dae
96. onnects to the Prodigy CME Machine Controller s dual serial connector and provides two DB 9 connectors suitable for connection to a PC serial port or USB to serial converter Cable 4705 KIT 01 R CANbus connector and terminator This cable connects to the card s CANbus connector and has RJ45 connectors on both ends Cable RJ45 02 R Ethernet connector This cable connects to the card s Ethernet connector and has RJ45 connectors on both ends BIMC 0001 01 Breakout interconnect module and cable provides convenient jack screw type terminators for the 5 pin Axis Connectors BIMC 0002 01 Breakout interconnect module and cable provides convenient jack screw type terminators for the 26 pin Amplifier I O Connector BIMC 0003 01 Breakout interconnect module and cable provides convenient jack screw type terminators for the 44 pin General I O Connector Adapt USB232 01 R This adapter provides USB to serial conversion It is useful for connecting to the Prodigy CME s DB 9 serial port from a USB port For information on ordering these accessory products please contact your PMD representative 1 6 Installation Overview 1 Before using the card the software must be installed See Section 1 8 Software Installation for instructions on installing the software 16 Prodigy CME Machine Controller User s Guide Installation 4 2 Fora normal installation of a Prodigy CME Machine Controller card you will need to configure
97. or for each axis and the signals are identical for all axes Pin Signal Name Description Motor A A motor drive lead Used with all motor types 2 Motor B B motor drive lead Used with all motor types 3 Motor C C motor drive lead Used with all motor types except DC brush 4 Motor D D motor drive lead Used with step motors only 5 Shield Connection to motor ground A shield connection is strongly recommended however not required for most motor setups You may refer to Figures 1 8 1 9 and 1 10 or use the table below to determine which leads should be connected for each supported motor type Machine Controller Motor type Motor Lead Motor Coil Connections Brushless DC Motor A A winding connection Motor B B winding connection Motor C C winding connection Shield optional motor shield connection DC Brush Motor A winding connection Motor B winding connection Shield optional motor shield connection Step motor Motor A phase A winding connection Motor B phase A winding connection Motor C phase B winding connection Motor D phase B winding connection Shield optional shield connection J9 J10 J11 and J12 are the motor signal connectors for axes 1 2 3 and 4 respectively They may be located on the card using Figure 1 5 Shield connections to the motor are not required but are highly recommended Not connecting the shield signal for each axis may result in increased EMI electromagnetic
98. ors Communication to from Atlas amplifiers is via SPI Serial Peripheral Interface using a simple packet oriented protocol For step motors in addition to the SPI format a dedicated pulse amp direction input mode is provided For complete documentation on all aspects of the Atlas Digital Amplifier refer to Adas Digital Amplifier Complete Technical Reference 2 5 2 Atlas Drive Ratings DC Brush Brushless DC Step Specifications Motor Motor Motor Nominal supply voltage 12 56 VDC 12 56 VDC 12 56 VDC Continuous current 14 0 ADC 10 0 Arms 9 0 Arms Peak current per phase 25 0 A 25 0 A 25 0 A Maximum continuous power 670 W 590 W 610 W 2 5 3 Safety Processing Functions Atlas provides a number of amplifier control features that automatically detect and manage safety related conditions In addition Atlas can signal when various conditions safety related or otherwise occur The subsequent sections describe these features 2 5 3 1 Overcurrent Fault Atlas supports automatic detection of excessive current output This fault occurs when the motor the wiring leading from Atlas or Atlas unit s power stage becomes short circuited or the requested current is too large to be processed by Atlas An overcurrent fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault It is generally desirable to pow
99. ost often used to allow various Magellan Motion Processor parameters and registers to be continuously captured and stored to a memory buffer The captured data may be downloaded to the C Motion Engine or to an off card host using the Prodigy CME Machine Controller card s serial CANbus or Ethernet communication channels Magellan data traces are useful for optimizing DC brush and brushless DC servo performance verifying trajectory behavior capturing sensor data or to assist with any type of monitoring where a precise time based record of the system s behavior is required For more information on how to set up a trace within the Magellan Motion Processor see the Trace Capture section of the Magellan Motion Processor Users Guide Beyond trace the dual ported memory may also be used for general purpose RAM memory storage particularly by user code located on the C Motion Engine The machine controller card is available with two available memory configurations The standard dual port memory configuration is 128Kbyte capacity The enhanced memory option is 468 Kbyte capacity The contents of the dual ported RAM are volatile They are not saved during power down of the card 2 6 1 1 Accessing The Dual Ported RAM To access the contents of the dual ported RAM via the Magellan port the Magellan s built in memory buffer commands are used The Magellan provides a sophisticated command set that lets you set up monitor and re
100. otor signal connections to the Prodigy CME Machine Controller Between one and four axes may be connected depending on the specific machine controller card and application requirements All connections are made through the Motor Signal Connectors which are high density female DB 15s If you have ordered the developer s kit version of the machine controller you may find it convenient to use the provided DB 15 stub cable sets to connect to the motor signals There is one connector for each axis and the signals are identical for all axes Pin Signal Name Description QuadA Differential A quadrature input optional for step motor axes 2 QuadA Differential A quadrature input optional for step motor axes 3 QuadB 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 HallA Hall signal input phase A not used for DC brush or step motors 9 HallB Hall signal input phase B not used for DC brush or step motors 10 HallC Hall signal input phase C not used for DC brush or step motors II Home Home signal input optional 12 PosLim Positive position limit input optional 1
101. pare set or otherwise utilize the current encoder position Refer to the Magellan Motion Processor User s Guide for more information 2 2 3 2 Connections amp Associated Signals These signals are named QuadA through QuadB4 16 signals and Index through Index4 8 signals and are all located on the Axis Feedback connectors as are the grounds that should be used with these signals A 5V output on each Axis Feedback connector is provided as a convenience for the encoder to power its internal circuitry As was the case for the quadrature input signals one or more of the digital grounds must also be connected to access the 5V The quadrature and index signals can be connected in one of two ways Single ended means that only one wire per signal is used while differential means two wires encode each signal labeled and Differential transmission is generally recommended for the highest level of reliability because it provides greater noise immunity than a single ended connection scheme If single ended connections are used only the wire is connected and the wire should be left floating For example in connecting to the A quadrature input QuadA connects to the encodet s quadrature A signal and QuadA l remains floating If differential connections are used both the and signals are used Differential or single ended termination must be selected through resistor pack installation See the table in Section 1 9 P
102. plifier IO connector J14 One or more of the analog grounds must be connected See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card 2 3 5 4 Electrical Interfacing 15V 1V25_REF gt AnologOut gt 24K 2 4 Communications Functions The Prodigy CME Machine Controller card provides three overall communication interfaces Serial CANbus and Ethernet Basic access to either the Serial CANbus or Ethernet port is accomplished by sending a C Motion command with the detailed connection parameters that will be used A Peripheral is used to access the connection once it is established For example to create an Ethernet TCP connection the IP Address and port number is provided If the connection is successfully established a peripherallD is generated and thereafter used as the reference for any future communications through that connection Prodigy CME Machine Controller User s Guide Operation ro In the subsequent sections the operational characteristics of the Serial Seriall amp Serial2 CANbus and Ethernet network ports will be detailed 2 4 1 Serial1 amp Serial2 Machine Controller cards provide synchronous serial communications in either RS232 or RS485 mode Access to the serial port controller is managed using peripheral connections In RS232 mode two serial ports are supported referred to as Seriall and Serial2 While some applications
103. r can be read to determine the actual output signal commands This register can not be directly written to To change the actual output signal commands the write value and write mask registers described above must be used For convenience the following table correlates the signals outputs with the bits of the write register and mask Signal Name General IO Bit No of write register Connector Pin No and mask register DigitalOut 13 0 DigitalOut2 14 l DigitalOut3 15 2 DigitalOut4 30 3 DigitallO 9 4 DigitallO2 10 5 DigitallO3 II 6 DigitallO4 25 7 DigitallO5 26 8 DigitallO6 27 9 DigitallO7 40 10 DigitallO8 4l lI 2 3 3 1 C Motion Commands To set or retrieve the value of the machine controller s general purpose digital I O the user must first open a Peripheral of type PIO This is accomplished using the C Motion command PeriphOpenPIO Using the returned Peripheral handle the user can write the 16 bit word value and mask using the C Motion command PeriphWrite Note that a single two word write must be used with the write mask in the low 16 bit word and the write value in the high 16 bit word To read back a previously written write value or mask or to read back the current actual output signals commands or to read back the current input signal states the command PeriphRead is used PIO space writes to the general purpose digital I O write value and mask register should always be made via
104. r stub cable sets There is one connector for each axis and the signals are identical for all axes Pin Signal Name Description HV Positive motor voltage power 2 Pwr_Gnd Motor voltage power ground J5 J6 J7 and J8 are the motor power connectors for axes 1 2 3 and 4 respectively They may be located on the card using Figure 1 5 See Chapter 3 Electrical Reference for complete machine controller electrical specifications 1 10 4 Communication Connections While the Prodigy CME Machine Controller card can communicate using Ethernet CANbus and one of two serial modes RS 232 and RS 485 in this first time installation we will set up the card for Ethernet communications To set up the card for operation in other communication modes see Chapter 2 Operation and the Pro Motion Users Guide Because the Ethernet address for the card will need to be configured we will first connect the RS 232 serial port and then the Ethernet port on the card During initialization we will then use Pro Motion to change the IP address that the card expects Ethernet communications on Prodigy CME Machine Controller User s Guide 25 rN Installation If the standard PMD accessory cables are used the base of the Y of the dual serial cable PMD p n Cable 4355 01 R should be connected to the Prodigy CME Machine Controller card J23 Serial Connector while the opposite end of the serial cable marked Port1 should be connect
105. rate 1 200 to 460 800 57 600 115 200 Parity none even odd none none Data bits 5 6 7 8 8 8 stop bits 1 2 l l After a reset or at power up the card retrieves default information for the serial ports from the on card non volatile RAM To simplify startup these default values can be changed by the user See Section 2 6 6 Setting Card Defaults for information 2 4 1 1 C Motion Commands To create a serial port peripheral connection the above parameters are specified in the C Motion command PeriphOpenCom Messages to and from the Serial port are transmitted via the PeriphSend and PeriphReceive commands Whenever a new serial port peripheral is opened its previous function is canceled By default Serial1 listens for PRP communications and Serial2 is the console port For detailed information on PRP action formats and function refer to the PMD Resource Access Protocol Programmer Reference 2 4 1 2 Connections amp Associated Signals J23 comprises a special 9 pin connector used to connect one or both serial ports See Section 3 2 8 Serial Connector for a detailed signal description of the Serial connector Prodigy CME Machine Controller User s Guide 57 Operation 2 4 1 3 Electrical Interfacing Fi 2 15 193 a 5 CAP 0077 01 igure car H C194 J23 1206GC102KAT1A Serial Interface CAP 0004 02 CONN 0005 02
106. reparing the Card for Installation for details When using the system with differential connections the polarity of the differential signal can be reversed by swapping the and connections This may be useful for altering the motor and or encoder direction however this same function can also be accomplished through commands to the Prodigy CME Machine Controller card See the Magellan Motion Processor Users Guide for more information See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card 2 2 3 3 Electrical Interfacing All of the QuadA QuadB and Index inputs utilize the following on card circuitry to process these signals Prodigy CME Machine Controller User s Guide Operation ro 5V Figure 2 2 Encoder Signal Schematic QuadA B and Index 2 2K 2 2K A B gt A B gt gt ISL3179EIBZ 1 0K 1 0K YZ 5V A 3 3V 2 2K 2 Index gt DS26LV32AT 1 0K 2 2 4 SSI Synchronous Serial Interface Encoder Input In addition to incremental quadrature feedback the machine controller card supports Absolute SSI format encoder feedback for one or more connected axes The Absolute SSI protocol is used to access high resolution absolute encoders that support this format Figure 2 3 shows a typical connection scheme The machine controller serves as the SSI master and generates the clock signals The encoder provides its current position at cons
107. rive 61 resistor 19 resistor packs 75 settings 19 76 S safety processing functions 61 current foldback 63 drive enable 63 fault status register 63 FaultOut Signal 63 overcurrent fault 61 overtemperature fault 61 overvoltage fault 62 undervoltage fault 62 watchdog timeout 63 sockets configuration 10 software 14 C Motion 15 installation 17 18 libraries 74 Pro Motion 15 VB Motion 16 SSI 41 44 T TCP 60 Prodigy CME Machine Controller User s Guide nmn Aa U undervoltage fault 62 user application code 72 73 developing 32 34 user settable components 75 user settable parameters 68 Ww watchdog timeout 63 timer 49 Prodigy CME Machine Controller User s Guide 97 98 Prodigy CME Machine Controller User s Guide
108. rmation on how these signal functions are programmed 2 2 6 1 C Motion Commands There are a number of Magellan C Motion commands related to processing or generating the AxisIn and AxisOut signals Refer to the Magellan Motion Processor User s Guide for complete information Prodigy CME Machine Controller User s Guide 45 2 Operation Figure 2 6 AxisIn Signal Schematic Figure 2 7 AxisOut Signal Schematic 46 2 2 6 2 Connections amp Associated Signals These signals are named Axisln l 4 and AxisOut 4 and are located on the Amplifier IO connector These signals are single ended digital inputs to the card To function properly one or more of the digital grounds must be connected The input signals are pulled up through 4 7k Ohm resistors to 5V The default power up value for all AxisOut signals is high See Chapter 3 Electrical Reference for a complete description of the pinout connections to and from the card 2 2 6 3 Electrical Interfacing AxisIn signal processing is identical to home limits and Hall sensor input and is shown in Figure 2 6 5V 4 7K AxisIn gt SN74ACT14PWRG4 The AxisOut signal is generated using the following circuitry 5V Vv gt AxisOut 10 SN74ACTI4PWRG4 Prodigy CME Machine Controller User s Guide Operation A 2 2 7 Atlas Interfacing The Magellan motion processor communicates to installed Atlas amplifiers via an SPI Serial Peripheral Interface bus
109. rs to be set and or viewed and allows all features to be exercised Prodigy CMIE Machine Controller User s Guide Table of Contents d Listof Figures cecon i ee e n a a E a e SaaS vii Chapter 1 Installation ccc ccc ccc ccc cece cece cece cere cece cece cece ee sssseees 9 1 1 Prodigy Family OVerVieWe recie eaei inan a ieemt nouvel ies gee a EE onda ceeds 9 1 2 Prodigy CME Machine Controller 0 eee e eee e cece eee eee e eee e eee e nent eee nen ee 10 1 3 Machine Controller Developer s Kit 2 0 0 0 0 cece ccc cece eee e ence eee n enn en ene ence ences 12 1 4 SORWAIE EEE iia tse acai ga Satara dais ah ae tare tds hacia aad Slip anata hate Salata E ED 14 1 5 Accessory Produts jac casren riante Mba i dod E E E pie aah ais R deeds 16 1 6 Installation OVeErView 0 0 ccc ccc cece nee E TE enone tenn es 16 1 7 Recommended Hardware 0 cece eee eee cee eee eee eee ene e tenet ene en tence ATEN 17 1 8 Software Installations ester cot taa dyn teaetnet EEE A EEA N ADA salou eats 17 1 9 Preparing the Card for Installation 0 cece ccc ence cece eee e eee n cnet een eneneeenees 18 1 10 CONNMECCION SUMIMALY meere aere E a A E iu A EE Mace boal E 22 1 11 Applying POWO aap EEE ota ested E AARAA EAE AAA ak pra NARA EETA ETA TAREA 26 1 12 First Time System Verification 0 cece cece cece cece eee ee nee e eee n seen eens eens eenenes 27 1 13 Developing User Application Code 00 ccc ccc cece cece cece ne
110. s 6 AGND Ground for analog signals 7 Reserved Reserved signal 8 Reserved Reserved signal 9 DigitallO Digital input output 10 DigitallO2 Digital input output 2 II DigitallO3 Digital input output 3 12 GND Ground 13 DigitalOut Digital output 14 DigitalOut2 Digital output 2 15 DigitalOut3 Digital output 3 16 Analogln3 Analog input 3 17 Analogin4 Analog input 4 18 Analogin5 Analog input 5 19 Analogin6 Analog input 6 20 Analogin7 Analog input 7 21 Analogin8 Analog input 8 22 AGND Ground for analog signals 23 Reserved Reserved signal 24 Reserved Reserved signal 25 DigitallO4 Digital input output 4 26 DigitallO5 Digital input output 5 Prodigy CME Machine Controller Card User s Guide 83 4 Electrical Reference 84 27 DigitallO6 Digital input output 6 28 Digitalln Digital input 29 Digitalln2 Digital input 2 30 DigitalOut4 Digital output 4 3l Analogin3 Analog input 3 32 Analogin4 Analog input 4 33 Analogin5 Analog input 5 34 Analogin6 Analog input 6 35 Analogin7 Analog input 7 36 Analogin8 Analog input 8 37 AGND Ground for analog signals 38 GND Ground 39 GND Ground 40 DigitallO7 Digital input output 7 4l DigitallO8 Digital input output 8 42 GND Ground 43 Digitalln3 Digital input 3 44 Digitalln4 Digital input 4 3 2 6 Amplifier I O Connector The Amplifier I O connector provides various amplifier related signals including amplifier enable outputs 8 AnalogOutput signals AxisIn and Ax
111. s Protocol Programmer s Reference 2 7 4 Sending Messages to from User Application Code A common function of user application code running on the C Motion Engine is to parse command messages sent to it by a host controller For example a user might write code for the C Motion Engine that responds to an Extend RobotArm command sent by the host controller and then send a series of commands to the Magellan Motion Processor to execute this motion sequence At the end of the motion sequence the user application code might send an Arm Extended message confirming the movement sequence has completed One method of achieving this is to use the Prodigy CME Machine Controller card s peripheral mechanism to open and operate a low level communications link via the serial CANbus or Ethernet link This method has the advantage of giving relatively direct control over the communication traffic The disadvantage is that the user has to implement specific send and receive communications in the host controller and the C Motion Engine needs to have similar code implemented that can process these messages Another method that may be more convenient particularly during early debugging of the user s application code is to use a capability of the PRP system to connect directly to the user application code on the C Motion Engine Messages sent and received by the C Motion Engine from a host controller are stored in a special buffer and can be easily re
112. s 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 4 2 C Mlotion C Motion provides a convenient set of callable routines comprising the code required for controlling the Magellan Motion Processor and PRP controlled resources whether running on a separate host computer such as a PC or running on the Prodigy CME card in the C Motion Engine C Motion includes the following features e Magellan axis virtualization Support for Atlas Digital Amplifiers e Ability to communicate to multiple PMD motion cards or modules e Ability to communicate via PCI bus PC 104 bus serial CANbus or Ethernet e Provided as source code allowing easy compilation amp porting onto various run time environments including PC microprocessor embedded card or C Motion Engine Can be easily linked to any C C application C Motion is described in the Magellan Motion Processor Programmers Command Reference and the PMD Resource Access Protocol Programmer s Reference 1 4 3 C Motion Engine Development Tools The C Motion Engine Development Tools include a source code editor compiler linker and Pro Motion based code management amp monitoring tools that allow the user to quickly and easily develop applications that will run on a device equipped with a C Motion Engine The C Motion Engine Development Tools include
113. s the following features e Complete toolset for creation of user specific applications running on the motion card e Open source compiler and C libraries Interactive Development Environment Prodigy CME Machine Controller User s Guide 15 rN Installation Supports PCI bus PC 104 bus RS232 RS485 CANbus and Ethernet communications The C Motion Engine development tools are described in the C Motion Engine Development Tools Manual 1 4 4 Visual Basic Support VB Motion provides a complete set of methods and properties for developing applications in Visual Basic 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 VB 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 PCI bus serial CANbus or Ethernet e 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 Programmers Reference 1 5 Accessory Products The Prodigy CME Machine Controller cards can be enhanced with the addition of any or all of the hardware accessory products described in the following table Component Part Number Description Cable 4355 01 R Dual serial cable This cable c
114. s the same sequence as it would look in actual C Motion calls PMDSetProfileMode amp hAxis PMDProfile Trapezoidal PMDSetPosition amp hAxis 12345 PMDSetVelocity amp hAxis 223344 PMDSetAcceleration amp hAxis 1000 PMDSetDeceleration amp hAxis 2000 PMDUpdate amp hAxis In this example hAxis1 is a handle to a structure known as a PMDAxisHandle There are other commands that address different card resources For example C Motion functions that address the Device resource are prefaced with PMDDevice and C Motion functions that address the Peripheral resource are prefaced with PMDPeriph Each of these command types take a handle to a variable with that structure For example commands prefaced with PMDDevice take a handle to a structure known as a PMDDeviceHandle and commands prefaced with PMDPeriph take a handle to a structure known as a PMDPeripheralHandle There are many examples of C Motion structures and in general they are used to make accessing the Prodigy CME Machine Controller cards simpler and more flexible In particular by developing code with C Motion it is very easy to change the physical location of a PMD axis or other resource type such as a Peripheral without any changes to the developed C Motion code sequences Two manuals describe how the Magellan Motion Processor operates and how it is programmed the Magellan Motion Processor Users Guide and the Magellan Motion Processor Programmers Command Refer
115. send motor commands via analog output any connected Atlas amplifier will immediately cease to communicate with the Magellan Care should therefore be taken when commanding analog output mode for axes that have an installed Atlas amplifier 2 2 8 3 Connections amp Associated Signals These signals are named AnalogOut1 8 and AnalogOut 1 8 and are located on the Amplifier IO connector They are differential analog outputs which vary between 10V and 10V For the analog outputs to function correctly AGND analog ground must be connected There are three analog grounds available all located on the Amplifier IO connector 2 2 8 4 Electrical Interfacing The analog output signals are generated using the following circuitry Prodigy CME Machine Controller User s Guide Operation ro ee Figure 2 8 Analog Output i Signal Schematic 1V25_REF gt AnalogOut gt gt 24K 2 2 9 Magellan Watchdog Timer The machine controller card provides a watchdog function for Magellan I O transactions When enabled the watchdog automatically triggers a Magellan reset if communication to the Magellan should be lost The most common use of this feature is to allow motion functions to be safely shut down if on card user application code running on the C Motion Engine unexpectedly stops sending commands to the Magellan or if an external controller such as a PC unexpectedly stops sending commands to the Magellan See Section 2 2 10
116. serial communications 5 Run Pro Motion s Axis wizard for each axis of your system to initialize parameters such as encoder direction and safe servo parameters if using a servo motor 6 Execute a simple trajectory profile on each axis demonstrating that it is operating correctly and under stable control During this first time system setup you may find it useful to refer to other PMD manuals including the Pro Motion User Guide for complete information on the Pro Motion application You may also want to refer to the Magellan Motion Processor User s Guide to familiarize yourself with operation of the Magellan Motion Processor which lies at the heart of all Prodigy Motion cards 1 12 1 Establishing Serial Communications To establish serial communications 1 Make sure the Prodigy card is powered and connected to the PC via its serial port 2 On the Start menu click 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 Project Pro Motion Ele View Actions Help Interface Select Interface Type C None Demo C po C ISA C Serial C CAN Ethemet 192 168 2 4 3 Click the Connect icon on the toolbar Prodigy CME Machine Controller User s Guide 27 rN Installation Alternatively on the File menu click Connect The purpose of the Interface dialog box is to indicate to Pro Motion how
117. serial communications Prodigy CME Machine Controller User s Guide 29 rN Installation 1 12 4 Disconnecting Serial Communications To disconnect serial communications 1 Select the serial link version of the Prodigy CME Machine Controller card in the Project window to the left 2 Click the Disconnect toolbar button A dialog box appears asking if you are sure you want to disconnect Click OK You will notice that the serial Prodigy CME Machine Controller card icon and axes graphical icons in the Project box disappear leaving only the Ethernet link icons for the card and axes Congratulations Ethernet communication is now up and running and you are ready execute any of the functions on Pro Motion via Ethernet l Multiple Pro Motion users can connect to the same Prodigy CME Machine Controller card on TCP port 40099 Up to four simultaneous connections can be made There are various situations where this may be useful For example one PC can function as a monitoring station for a particular Prodigy CME card while another PC provides com mands to that same card Be aware however that two or more users sending motion commands to the same card can cause unexpected motion and should be avoided When connecting your Prodigy card foruse on an Ethernet network be sure that the IP address provided for the Prodigy card does not conflict with the addresses of other users on the network See Section 1 12 2 Settin
118. should stay in place but if required the pads can be removed and remounted Next to install the Atlas units into the socket confirm that the Atlas is oriented correctly with the metal heat sink surface facing toward the abutting edge of the card Carefully align the Atlas pins to the socket and press firmly down until the Atlas is fully seated in the socket Extreme care should be taken when installing the Atlas into its socket Failure to orient the Atlas correctly or mis alignment of pins may result in damage to the Prodigy CME Machine Controller card Atlas units or both Figure 1 7 Atlas Installation into Machine Controller Card 1 9 4 Atlas Amplifier Mechanical Installation If your machine controller card already has the Atlas amplifiers installed you may skip to the next section With thermal pads installed on each Atlas using Figure 1 6 as a reference attach each Atlas unit to the vertical plate Apply moderate torque to each fastener Once all Atlas units have been mechanically installed to the vertical plate tighten the machine controller card base plate fasteners with moderate pressure Prodigy CME Machine Controller User s Guide 21 rN Installation Congratulations You have now completed mechanical assembly of the L brackets to the machine controller card and Atlas units 1 10 Connection Summary Figure 1 8 Figure 1 9 and Figure 1 10 provide general connection overviews for each mach
119. spectively J20 5V Power J21 J22 CANbus and 2 Connectors respectively J23 Serial Connector J24 Ethernet Connector 1 9 1 Resistor Pack Settings The Prodigy CME Machine Controller card has minimal user adjustable settings Most settings are software configurable To prepare the card for installation the user specified resistor pack options should be checked as described in the following table Item Setting Description Resistor packs Installed this is the default setting of resistor If differential connections are being used leave these JSI JS2 JS3 packs JS JS3 resistor packs installed Removed If single ended encoder connections are being used remove the resistor packs Prodigy CME Machine Controller User s Guide 19 Installation Figure 1 6 L Bracket and Card Assembly 20 1 9 2 L Bracket Installation If you are not using an L bracket or if your machine controller card already has the Atlas amplifiers and L bracket hardware installed you may skip to the next section Refer to Figure 1 6 to install either the base plate or combined base vertical plate L bracket hardware All necessary fasteners should be included with the L bracket hardware You will need a 1 5 mm and a 2 0 mm allen key for installation of the L bracket To install the base plate or the combined base Vvertical plates use the screws as shown in Figure 1 6 to mount the machine controller card onto the base plate If attaching to the combin
120. t QuacB QuadA QuadA e SSI Absolute Encoder 2 2 4 1 Connecting To Multiple Cards There may be situations where it is desirable for a single SSI encoder to drive encoder inputs on multiple machine controller cards The most common reason for this is that an SSI encoder will serve as the electronic gear master input for multiple cards This configuration is shown in Figure 2 4 SSI Encoder Figure 2 4 Connecting Multiple Cards Data Clock Data Clock Data Clock Input Output Input Input Input Input Prodigy CME Prodigy CME Prodigy CME Machine Controller Machine Controller Machine Controller Card 1 Card 2 Card 3 Clock Master Clock Slave Clock Slave To support this configuration the machine controller allows the clock signals for a given SSI axis to be input rather than output by the SSI control logic This is controlled via the SSI clock direction field located in the SSI configuration register Prodigy CME Machine Controller User s Guide 43 2 Operation 44 2 2 4 2 SSI Operation To enable SSI encoder operation for a particular axis the various control parameters such as word size and clock frequency should be programmed according to the SSI encoder specifications Then the SSI Enable SSI clock direction and SSI encoder word format fields should be set via a single write to the SSI configuration register Following this the Magellan motion processor should be
121. t Limit Energy Limit Energy Limit Motor Type Limit Default Maximum Default Maximum Brushless DC 9 0 Amps 10 0 Amps 139 Amp Sec 139 Amp Sec DC Brush 12 0 Amps 14 0 Amps 144 Amp Sec 144 Amp Sec Step Motor 8 0 Amps 9 0 Amps 149 Amp Sec 149 Amp Sec Current foldback when it occurs may indicate a serious condition affecting motion stability smoothness and performance It is the responsibility of the user to determine the appropriate response to a current foldback event Prodigy CME Machine Controller User s Guide 63 Operation Figure 2 18 On card Dual ported Memory 64 2 6 General Card Functions There are a number of features and resources on the Prodigy CME Machine Controller card that are not directly controlled by the Magellan Motion Processor or associated with general I O or the C Motion engine The next several sections describe these general card functions 2 6 1 Dual Ported RAM DPRAM The Prodigy CME Machine Controller card has an on card dual ported memory DPRAM which has one port interfaced to the Magellan motion processor and the other port interfaced to the card s high speed internal communications bus allowing two paths of communication Figure 2 18 shows this configuration Magellan Motion Dual ported RAM To communication bus Processor Access via Magellan Command Packets Access via PRP messages To communication bus The dual ported RAM is m
122. tant regular intervals based on the SSI communication settings On card logic processes the SSI protocol converting the axis position to a format that allows it to be input to the Magellan motion processor where it is used for servo processing and other encoder related functions Prodigy CME Machine Controller User s Guide 41 2 Operation There are three SSI interface settings that can be set by the user They are clock frequency encoder resolution and word format The following table shows the range of settings for these parameters supported by the machine controller card Parameter Range Default Value Comments SSI clock frequency 500 kHz 4 0 MHz 500 kHz The user should set the clock frequency at the highest rate supported by the SSI encoder and cable length they will be using Check the encoder specification for details SSI encoder resolution 8 bits 31 bits 25 bits This should be set to match the encoder word length generated by the SSI encoder being used SSI encoder word format binary or Gray binary This should be set to match the encoder format generated by the SSI encoder being used SSI enable enabled or disabled disabled To enable SSI operation this field must be set to enable SSI clock direction input or output input For normal SSI interfacing the clock will be set for output For setups where one SSI encoder will be input to multiple cards the non clock generating cards should be set to input
123. te value in the low 4 bits of this register 0x21 A Amplifier enable signal Read amp Write The 4 available output bits are stored write mask in the low 4 bits of this register 0x220 General purpose digital Read The commanded output states of the output signal command Prodigy CME Machine Controller User s Guide 12 output signals can be read in the low l2 bits of this register 37 2 Operation 38 Address Function Read Write Comments 0x300 0x30E General purpose analog Read amp Write 0x300 holds the channel 16 bit output channel values for word 0x302 holds the channel 2 16 channels through 8 bit word etc up to 0x30E which holds the channel 8 16 bit output word 0x310 Ox31E Analog output source Read amp Write 0x310 holds the analog output source selection either Magellan or PRP for channel 1 0x312 for channel 2 etc up to 0x31E which holds the channel 8 output source 0x320 Analog output enable Read amp write When set to I the low bit of this register enables analog channel output When set to 0 the analog output voltages are shunted to 0 0 volts 0x340 0x34E Analog input channel Read 0x340 holds the channel 16 bit values for channels input word 0x342 holds the channel through 8 2 16 bit input word etc up to 0x34E which holds the channel 8 input word Various standard C Motion Peripheral access commands such as PeriphOpen PeriphRead and PeriphWrite are used to access
124. temal reset Prodigy CME Machine Controller User s Guide Digital signal conditioning ATLAS Digital Amplifiers AID D A analog conditioning Digital 1 0 Amplifier enable Quadrature amp SSI signal conditioning Figure 2 1 Prodigy CME Machine Controller Card Internal Block Diagram Home Axis In Axis Out Limits Hall sensors Brushless DC Motor DC Brush Motor Step Motor Analog in Analog Out Digital 1 0 Amplifier enable Quad A B Index SSI Data Clock 35 2 Operation 2 1 Card Function Summary Prodigy CME Machine Controller card functions can be broken down into six overall categories Magellan functions These are functions which reside in the Magellan Motion Processor Included are profile generation DC brush and brushless DC setvo loop closure breakpoint processing and much more These functions are accessed through the Magellan Motion Processors command set which allows for sophisticated control of the motion axes and associated hardware I O functions These are digital and analog input and output functions There are 16 general purpose digital channels consisting of four dedicated inputs four dedicated outputs and eight bi directional There are eight general purpose 10V analog input channels and eight general purpose 10V output channels Communications functions The Prodigy CME Machine Controller card provides sophisticated communication facilities consisting of two
125. the card for the specific motion hardware to which it will be connected See Section 1 9 Preparing the Card for Installation for a description of configuring the cards 3 Next connect the systems motors encoders amplifiers and sensors to operate the motion hardware See Section 1 10 Connection Summary for a description of the available connections and options for the Prodigy CME Machine Controller card 4 Connect the Prodigy CME Machine Controller card to the host PC via an Ethernet cable and a Serial cable During first time setup Ethernet communications will be used but during development you can use any of the available communication options serial CANbus or Ethernet See Section 1 10 Connection Summary for a description of the communications connections and options 5 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 12 First Time System Verification for a description of this procedure Once these steps have been accomplished the installation is complete and the card is ready for operation 1 7 Recommended Hardware To install a Prodigy CME Machine Controller card the following hardware is recommended Intel or compatible processor Pentium or better 300 MB of available disk space 256MB of available RAM and a CD ROM drive The supported PC operating systems are Windows XP Vista Windows 7
126. the contents of the registers located in the Peripheral I O address space The specific C motion commands required are discussed along with each of the card functions introduced in the sections below 2 2 Miagellan Functions The Magellan Motion Processor in Figure 2 1 forms the core of the Prodigy CME Machine Controller cards Here is an overview of the functions provided by the Magellan Motion Processor e Profile generation Quadrature encoder processing and index capture DC brush and brushless DC servo loop closure e Breakpoint processing e AxisIn and AxisOut signal processing e Trace e Motion error detection tracking windows and axis settled indicator e Limit switch processing e Atlas amplifier interfacing e Analog amplifier output signal generation The Magellan Motion Processor interfaces with motion hardware components such as feedback encoders and the on card Atlas amplifiers directly through its own pin connections or through various signal conditioning circuitry The following sections will provide information on all of these functions Magellan instructions are encoded in packets which are sent to and from the Magellan Motion Processor The Magellan processes these packets performs requested functions and returns requested data Generally speaking each command packet has its own C Motion command associated with it Prodigy CME Machine Controller User s Guide Operation ro Within the Prodigy CME Machine Contro
127. the locations of the principal components of the Prodigy CME Machine Controller cards The uset settable components of the card are listed in the following table Component Function Resistor packs JSI JS2 and JS3 Sets the encoder termination Figure 3 1 Components and Layout Front of Card Magellan Prodigy CME Machine Controller User s Guide 75 4 Electrical Reference 76 3 1 1 Encoder Connections and Resistor Packs Encoder inputs may be connected differentially with two wires for QuadA QuadB and Index signals or with just one wire per signal If differential connections are being used resistor packs JS1 JS2 and JS3 should remain installed If single ended encoders are used remove all three resistor packs and connect encoder signals to the positive encoder input only The negative input may remain unconnected The following table shows the relationship between the encoder input mode and resistor packs Item Setting Description Resistor packs Installed this is the default setting If differential connections are being used JSI JS2 JS3 of resistor packs JSI JS3 leave the resistor packs installed Removed If single ended encoder connections are being used remove the resistor packs Encoder connections when using differential encoder input Signal J16 J19 Axis 1 Axis 2 Axis 3 Axis 4 QuadAn 16 1 JI7 1 18 1 JI9 1 QuadAn J16 2 J17 2 J18 2 J19 2 QuadBn J16 3 J17 3 J
128. the motion card Highlighting single clicking either the card icon or one of 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 after approximately 2 seconds a dialog box appears indicating that a Communications Timeout Error has occurred If this is the case recheck your connections and repeat from step 1 above If after repeated attempts a connection can still not be established call PMD for assistance 1 12 2 Setting the Ethernet Parameters To set the Ethernet parameters 1 With serial communications functioning properly click the Device toolbar button The Device window appears 2 Click Network I O The Network I O Defaults dialog box appears 28 Prodigy CME Machine Controller User s Guide Installation 4 3 Click the Ethernet tab The Ethernet tab appears with data entry fields for the IP Address the Net Mask and the Gateway Network I O Defaults Ethernet Serial IP address 192 168 2 Net mask 255 255 255 Gateway o 0 0 For a typical installation you will not change the Net mask and Gateway default values but you must specify a valid and unique IP Address for the card to be located on your Ethernet network If you are not sure what IP addresses are free and available for your Ethernet network contact your system administrator 4 Enter the
129. tical Plate fst Mechanical sgl ig les 48 Dimensions apoo T 18 3 o 1 72 i o o 65 5 L ee TT roy e 9 5 4X M4X0 7 6H I anz 6 4 a 8X M2 5X0 45 6H ea 25 3 2 i 13 203 2 I 8 00 Prodigy CME Machine Controller Card User s Guide 93 Electrical Reference Figure 3 5 Atlas Digital Amplifier Vertical Unit with Tabs Mechanical Dimensions 94 3 9 Atlas Mechanical Dimensions Prodigy CME Machine Controller Card User s Guide Index A absolute maximum ratings 91 analog input 53 analog output 47 55 Atlas amplifier connectors 76 77 electrical installation 20 functions 36 60 interfacing 47 mechanical dimensions 94 mechanical installation 21 overview 60 sockets 10 78 79 B brushless DC motors 31 47 Hall sensors 45 C card access 36 function summary 36 reset 68 resource revision information 69 setting defaults 68 types 10 C Motion Engine functions 70 hardware configuration 70 heartbeat LED 74 powerup and operation 71 task control 71 commands C Motion 39 Magellan 39 communication 56 CANbus 58 59 Ethernet 59 60 serial 57 58 commutation 31 47 brushless DC motors 31 components table front of board 19 Prodigy CME Machine Controller User s Guide connections communications 25 motor drive 24 motor feedback 23 motor power 25 connectors 76 amplifier I O 84 CAN 85 Ethernet 86 expansion 84 feedback
130. tile Memory The Prodigy CME Machine Controller cards have a general purpose 4 094 byte memory that retains its contents after a card power down or reset This memory is useful for storing parameters that are set only occasionally and stay with the card such as machine calibration information Accessing the non volatile memory is accomplished in the same manner as accessing the dual ported RAM except that the NVRAM memory type is specified instead of the DPRAM memory type Addresses are specified from 0 to 1 023 When writing to this memory a typical write takes 50uSecs however under certain circumstances it can take much longer up to several 100mSec Read speed is the same as for other memory resources and takes just a few nanoseconds As for the dual ported RAM byte size memory operations are not supported by the non volatile memory The smallest memory unit that can be accessed is 16 bits The non volatile memory can be rewritten a limited number of times The worst case write limit cycle is 100 000 times for a given memory address but in typical operation the limit is much higher As a general guideline to avoid erase write cycle limit problems the non volatile RAM should not be used for general purpose scratch RAM and should only be used to store permanent or semi permanent parameters The typical write time to the non volatile RAM is 50uSec however it may take as long as several 100 mSec If other portions of the user application
131. un continuously while the system is in operation For debugging however there are a number of additional controls Prodigy CME Machine Controller User s Guide 71 Operation At any point in time it is possible to stop or restart execution of the C Motion Engine user application code To access this function the C Motion command actions TaskStart and TaskStop are used To read the current status of the task the command GetState is used Extreme caution should be applied when stopping or starting user application code running on the C Motion Engine as depending on the specific application code this may cause unexpected or unsafe motion It is the responsibility of the user to determine whether stopping or restarting of user application code is safe and appropriate Whether or not the user application code automatically executes upon powerup or reset can also be controlled The two options are operation under manual mode in which case the uset s code will not begin execution until an explicit start command is given and auto start where the code automatically begins execution from powerup or reset This setting is part of the card default parameters so to change these parameters the C Motion command DeviceSetDefault is used See Section 2 6 6 Setting Card Defaults for more information on default settings and how to program them For a detailed description of the supported Prodigy CME commands see the PMD Resource Acces
132. ut7 26 AnalogOut8 3 4 5 Cable 5005 01 PMD Part Cable 5005 01 Description Male to female straight through high density DB 15 connector cable Length 0 meter Cable 15 conductor with 24AWG stranded cables J16 J19 J16 J19 Pin Signal Pin Signal l QuadA 2 QuadA 3 QuadB 4 QuadB 5 GND 6 Index 7 Index 8 HallA 9 HallB 10 HallC LI Home 12 PosLim 13 NegLim 14 5V 15 GND 3 4 6 Cable 1007 O1 PMD Part Cable 1007 01 J23 Connects Description Male DB 9 to female DB 9 cable Pin Signal to Length 5 meter RS485Select Cable 3 conductor 24AWG Untwisted shielded UL STYLE 2464 2 SrilXmt RS485Xmt 2 3 Sri2Rcev RS485Rcev 3 4 No connect 5 GND 5 6 SrI2Rcv RS485Rev 6 7 SrllRev RS485Rev 7 8 Sri2Xmt RS485Xmt 8 9 Srl Xmt RS485Xmt 9 90 Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 3 4 7 Cable RJ45 02 R PMD Part Cable RJ45 02 R CANbus Description Male RJ 45 to male RJ 45 cable wired in a straight J21 J22 through configuration Pin Signal Connects to Length 2 0 meters CAN Cable 4P 24AWG UTP Cat 5e 2 CAN 2 3 GND 3 4 pass thru 4 5 pass thru 5 6 pass thru 6 7 GND 7 8 pass thru Ethernet J24 Pin Signal Connects to EthernetTx 2 EthernetTx 2 3 EthernetRx 3 4 4 5 5 6 EthernetRX 6 7 7 8 8 3 5 Absolute Maximum Ratings HV voltage range OV to 6
133. verting receive No Connect RS485Rcv input 8 Srl2Xmt Serial 2 transmit output Positive non inverting Positive non inverting RS485Xmtt transmit output transmit receive 9 Srl Xmt Serial transmit output Negative inverting No connect Rs485Xmt transmit output 10 GND Ground Ground Ground 3 2 9 CAN Connectors The Prodigy CME Machine Controller s controller area network CAN transceivers are designed for use in applications employing the CAN serial communication physical layer in accordance with the ISO 11898 standard The transceiver provides differential transmit and differential receive capability to from a CAN controller at speeds up to 1 Mbps There are two different CAN connectors J21 and J22 providing electrically identical signals These two connectors are designed to make it easy to connect the Prodigy CME Machine Controller card in a daisy chain configuration Termination at each end of the cable run is 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 4 2 CANbus Communications for more information on the functionality of the CANbus port The pinouts for both the J21 and J22 CAN connector are as follows Pin Number Signal Description J21 J22 CAN
134. w SNZ 1000pF C1005X5R1E104M 1 5747150 4_ s Schematic Our p e 4 3v3 8 A ps v c195 7 3v3 AP 0004 02 2 C100SXSRIE104M R253 O luF 1 RES 0047 01 l ERJ 3GEYJ102V C196 K 97 CAP 0004 02 BLS CAP 0004 02 SEa ee pon iN u54 C1005X5R1E104M U ia L caP 0004 02 1m SRES 0044 01 C1005X5R1E104M ERJ 3GEYJ10 V O luF 199 CAP 0004 02 nw R254 C1005X5R1E104 RES 0013 02 O luF ZB TIDUT lt SUARTO_TXD RC0402FR 0710KL Yeay T2DUT UART1_TXD E 0K UART1_RXD RIQUT gt gt SRL_RS485_SELE UARTO_RXD RO ReDUT HDPLX lt Rs485_HDPLX RS 485 RS 23 Lis TRAN 0008 01 Note DDTC143TCA 7 F Maxim MAX3160EEAP R250 R318 RES 0045 01 RES 0013 02 ERJ 3GEYJ472V RC0402FR 071qKU 10K 4 7K J23 1 SRL_RS485_SELECT VW Open gt LOW RS232 gt Pull Down gt HIGH RS485 2 4 2 CANbus Communications The Prodigy CME Machine Controller card provides a general purpose CANbus port compatible with the CAN2 0B standard which may be operated at various communication rates from 10 000 to 1 000 000 bps bits per second In addition each CANbus device is assigned two CAN identifiers also called addresses one for transmission of messages and one for reception of messages The following table summarizes this information along with the factory defaults for these values Parameter Range Default Baud rate 10 000 to 1 000 000 bps 1 000 000 Host send address 0 0x800 0x580 Host receive addr
135. will not need to use two serial ports the second port may be useful during C Motion application code debugging or to communicate with various serial devices connected to the machine In RS485 mode a single serial port is supported referred to as Seriall Also in RS485 mode the serial port may be operated in either half duplex or full duplex mode Pin 1 of the J23 Serial Connector selects whether RS232 or RS485 communications mode is used If left open the default condition the card operates the serial port in RS232 mode If closed tied to ground the serial port is operated in RS485 mode Note that a change in the status of this pin will not properly take effect until after a power on or reset of the card Both Serial Port 1 and Serial Port 2 can be operated at various communication settings as shown in the following table All settable serial port parameters can be programmed separately for Serial 1 and Serial 2 For RS232 communications each serial controller only allows one peripheral to be established at a time For example if a peripheral is opened to establish RS232 communications via Serial 1 another peripheral may be opened to establish RS232 communication via Serial 2 However if a third peripheral is then opened to establish a new connection with Serial 1 the original Serial 1 peripheral will automatically be closed Settings amp default values for Seriall and Serial2 Parameter Range Serial1 Default Serial2 Default Baud
136. wise stops functioning The default keep alive parameters for the Prodigy CME cards are Parameter Range Default idle time 0 65 535 seconds 60 seconds interval time not settable 30 seconds retry count not settable 2 The dle time is the amount of time after the last message on the port that must occur for a keep alive message to be sent When sent the keep alive message requests the host connection to acknowledge that it is still functioning properly If it provides this acknowledgment the zd e time counter is reset to 0 If it does not a second keep alive message will be set after the nzerval time and this will be repeated a total of re ry count number of times If the host ultimately does not correctly respond the Prodigy CME connection will automatically be closed Note that all of these functions are handled automatically by the Prodigy CME card s TCP processing system and should in turn also automatically be handled by the host s TCP system No user action is required to initiate or monitor these automatic TCP keep alive messages See Section 2 6 6 Setting Card Defaults for information on how to change machine controller default values including the keep alive parameters described above 2 4 3 2 C Motion Commands To create an Ethernet TCP or Ethernet UDP peripheral conversation the IP address and port are specified in the C Motion commands PeriphOpenTCP or PeriphOpenUDP respectivel
137. x Ethernet differential receive negative 7 No connect No connect 8 No connect No connect 3 2 11 The following table is supplied as a reference only Connector Parts Reference Label Description Connector Part Number Connector Mate JI J4 Atlas Connector Samtec SSQ 10 01 F D Pluggable Atlas Unit J5 J8 Power Connector Molex 46015 0203 Molex 39 01 2025 J23 Serial Connector TE Connectivity 5747 50 4 DB 9 Male J9 J12 Motor Drive Connector Molex 39 30 2050 Molex 39 01 405 I J22 J28 CAN Connector H Amphenol FRJAE 408 Male RJ45 V EDAC A00 108 620 450 J24 Ethernet Connector H Amphenol FRJAE 408 Male RJ45 V EDAC A00 108 620 450 JI5 Expansion Connector Molex 87831 1220 Molex 79107 7005 J16 19 Feedback Connector FCI 10090929 S154VLF High density DB I5 Male J13 General I O Connector FCI 10090929 S444VLF High density DB 44 Male Jl4 Amplifier I O Connector FCI 10090929 S264VLF High density DB 26 Male Prodigy CME Machine Controller Card User s Guide Electrical Reference 4 3 3 Motor Connections 3 3 1 Atlas Mode The following sections show the connections to different types of motors when the Atlas amplifiers are used 3 3 1 1 Brushless DC Motor Connections Connection Name Axis 1 Axis 2 Axis 3 Axis 4 Motor A jie J2 1 J3 1 J4 1 Motor B jl 2 J2 2 J3 2 J4 2 Motor C jI 3 J2 3 J3 3 J4 3 Case Shield Jl 5 J2 5 J3 5 J4 5 3 3 1 2 DC Brush Motor Connections Connection Name Axis 1 Axis 2
138. xample session resulting in code being downloaded and executed on the Prodigy CME Machine Controller card Prodigy CME Machine Controller User s Guide 2 Operation A In This Chapter Card Function Summary Magellan Functions I O Functions Communications Functions Atlas Amplifier Functions General Card Functions C Motion Engine Functions vVvvvvvvvyv Software Libraries The Prodigy CME Machine Controllers are high performance card based motion controllers for DC brush brushless DC and step motors They are based on Magellan Motion Processors which perform motion command interpretation and numerous other real time functions They directly host Atlas digital amplifiers for each axis eliminating the need for off card amplifiers Machine controller cards include a powerful C Motion Engine module CME which allows C language application code to be downloaded and executed directly on the card To assemble a complete functioning system the only additional components needed are motors cables and a power supply The following diagram provides a functional block diagram of the Prodigy CME Machine Controller card C Motion Engine Ethernet transceiver Ethernet Sync Dual port Trace amp profile RAM storage Non volatile RAM High Speed Internal Bus Magellan Motion Processor Undervoltage monitor SSI V O decode amp Reset logic CANbus Serial transceiver transceiver CANbus Serial Ex
139. y To transfer messages via this peripheral connection the PeriphSend and PeriphReceive commands are used For detailed information on PRP action formats and function refer to the PMD Resource Access Protocol Programmer s Reference 2 4 3 3 Connections amp Associated Signals The Ethernet connector is a standard RJ 45 connector and is located at J24 2 5 Atlas Amplifier Functions 2 5 1 Atlas Digital Amplifier Overview Atlas Digital Amplifiers are single axis amplifiers that provide high performance torque control of brushless DC step motor and DC brush motors They accept digital torque commands from an external source and are used directly for motor torque control applications or in conjunction with higher level controllers for velocity or positioning applications Their very compact size and high power output make them an ideal solution for single card machine controllers that require high performance in a small envelope Prodigy CME Machine Controller User s Guide Operation 2 Atlas digital amplifiers provide many advanced control features including user programmable gain parameters performance trace field oriented control and Vt current management Atlas amplifiers are powered from a single supply voltage and provide automatic protection from overcurrent undervoltage overvoltage overtemperature and short circuit faults The Atlas family has been designed to work seamlessly with PMD s Magellan family of motion process

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