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| MC73110 Advanced 3-Phase Motor Control IC Developer's Kit Manual Performance Motion Devices, Inc. 55 Old Bedford Road Lincoln, MA 01773 Revision 1.1, October 2003 NOTICE This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is protected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express written permission of Performance Motion Devices, Inc. The information contained in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form, by any means, electronic or mechanical, for any purpose, without the express written permission of Performance Motion Devices, Inc. Copyright 1998, 1999, 2000, 2001, 2002, 2003 by Performance Motion Devices, Inc. Navigator(R), Pro-Motion(R) and C-Motion(R) are registered trademarks of Performance Motion Devices, Inc. ii MC73110 Developer's Kit Warranty Performance Motion Devices, Inc. (PMD) warrants performance of its products to the specifications applicable at the time of sale in accordance with Performance Motion Devices, Inc.'s standard warranty. Testing and other quality control techniques are utilized to the extent Performance Motion Devices, Inc. deems necessary to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those mandated by government requirements. Performance Motion Devices, Inc. reserves the right to make changes to its products or to discontinue any product or service without notice, and advises customers to obtain the latest version of relevant information to verify, before placing orders, that information being relied on is current and complete. All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement, including those pertaining to warranty, patent infringement, and limitation of liability. Safety Notice Certain applications using semiconductor products may involve potential risks of death, personal injury, or severe property or environmental damage. Products are not designed, authorized, or warranted to be suitable for use in life support devices or systems or other critical applications. Inclusion of Performance Motion Devices, Inc. products in such applications is understood to be fully at the customer's risk. In order to minimize risks associated with the customer's applications, adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards. Disclaimer Performance Motion Devices, Inc. assumes no liability for applications assistance or customer product design. Performance Motion Devices, Inc. does not warrant or represent that any license, either express or implied, is granted under any patent right, copyright, mask work right, or other intellectual property right of Performance Motion Devices, Inc. covering or relating to any combination, machine, or process in which such products or services might be or are used. Performance Motion Devices, Inc.'s publication of information regarding any third party's products or services does not constitute Performance Motion Devices, Inc.'s approval, warranty or endorsement thereof. MC73110 Developer's Kit iii Related Documents MC73110 Advanced 3-Phase Motor Control IC Product Manual (MC73110PM) Electrical Specifications, Theory of Operations, and Command Reference for MC73110 IC. iv MC73110 Developer's Kit Table of Contents 1.0 Product Overview .............................................................................. 7 2.0 Installation ......................................................................................... 9 2.1 Software ........................................................................................................................................................ 11 2.2 Documentation .......................................................................................................................................... 11 2.3 Connection Configurations ....................................................................................................................... 12 2.4 Installation Sequence .................................................................................................................................. 13 2.5 Required Hardware ..................................................................................................................................... 13 2.6 Preparing the Card for Installation ............................................................................................................ 14 2.7 Connecting to the Card .............................................................................................................................. 15 2.7.1 Initial Setup .............................................................................................................................. 15 2.7.2 Power Connector (J1) .............................................................................................................. 16 2.7.3 Motor Feedback Connector (J2) ............................................................................................. 16 2.7.4 Motor Connector (J4) ............................................................................................................. 17 2.7.5 Host Connector (J6) ................................................................................................................ 17 2.7.6 Serial Port Connector (J7) ....................................................................................................... 18 2.8 Applying Power .......................................................................................................................................... 18 2.8.1 Card Reset ................................................................................................................................. 18 2.8.2 LED Status Indicators ............................................................................................................ 18 2.9 Software Installation ................................................................................................................................... 19 2.10 First Time System Verification ................................................................................................................. 19 3.0 Using Pro-Motion ............................................................................ 21 3.1 Communication .......................................................................................................................................... 22 3.1.1 Axis Setup Wizard ................................................................................................................... 23 3.1.1 Step #1: Signal Output Settings ............................................................................................ 24 3.1.2 Step #2: Initialize Signal Sensing ........................................................................................... 24 3.1.3 Step #3: Safety Settings ........................................................................................................... 25 3.1.4 Step #4: Commutation .......................................................................................................... 25 3.1.4.1 Step #4a: Check Commutation .......................................................................................... 26 3.1.5 Step #5: Velocity Integrator Loop Parameters ..................................................................... 26 3.1.6 Step #6: Velocity Loop Parameters ........................................................................................ 26 3.2.6 Step #7: Current Loop Parameters ........................................................................................ 27 3.2.7 Step #8: Miscellaneous Settings ............................................................................................. 27 3.2 Main Window ............................................................................................................................................. 28 3.2.1 Project Window ....................................................................................................................... 28 3.2.2 Command Window ................................................................................................................ 29 4.0 Developing Your Own Applications with C-Motion ......................... 31 4.1 Theory of Use ............................................................................................................................................. 32 5.0 MC73110 Electrical Reference ......................................................... 33 5.1 User-Settable Jumper Options .................................................................................................................. 33 5.2 Connecting to the Card .............................................................................................................................. 34 5.2.1 Power Connector (J1) .............................................................................................................. 35 5.2.2 Motor Feedback Connector (J2) ............................................................................................. 36 5.2.3 RS485 Connector (J3) .............................................................................................................. 37 5.2.4 Motor Connector (J4) ............................................................................................................. 37 5.2.5 Remote Switcher Connector (J5) ............................................................................................ 38 5.2.6 Host Connector (J6) ................................................................................................................ 39 5.2.7 Serial Port Connector (J7) ....................................................................................................... 39 MC73110 Developer's Kit v vi MC73110 Developer's Kit 1.0 Product Overview MC73110 Motor Control IC Number of axes 1 Package Voltage Function 64-pin TQFP 3.3 V Velocity control Torque control Commutation Encoder input Navigator/Pilot Magellan Motion Cards 1 1, 2, 4 132-pin PQFP 100-pin PQFP 5V Position control Encoder input Profile generation Commutation 1, 2, 3, 4 144-pin TQFP 100-pin TQFP 3.3 V Position control Encoder input Profile generation Commutation Network communications Multi-motor DC servo Brushless DC Microstepping Pulse & direction 1, 2, 3, 4 PCI PC/104 3V Position control Encoder input Profile generation Commutation Signal conditioning Analog output Trace buffer DC servo Brushless DC Microstepping Pulse & direction Motor types Brushless DC DC servo Brushless DC Microstepping Pulse & direction Parallel Serial point-to-point Serial multi-drop 100 -150 Sec/axis Communication Standalone Serial Parallel PCI, PC104 Serial point-to-point Serial multi-drop CANbus 50 -75 Sec/axis 50 -75 Sec/axis Loop rate 20 kHz The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent 3-phase brushless motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of feedback signals. It can be operated in voltage, torque, or velocity modes and supports standalone operation for use with PMD's motion processors, other off-the-shelf servo controllers, or via a serial port. Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for brushed servo, brushless servo, microstepping, and pulse and direction step motors. They are available in 1, 2 and 4-axis, and in both single-chip and two-IC chipset configurations. These parts operate at 5V. Magellan-family Motion Processors are state-of-the-art programmable chip-based positioning controllers for brushed servo, brushless servo, microstepping, and pulse and direction step motors. They are similar to the Navigator Motion Processors but provide increased capabilities including faster loop rate, CANBus communications, software-selectable motor type, and direct SPI bus output for serial DACs. They are available in 1, 2, 3, and 4-axis, and in both single-chip and two-IC chipset configurations. These parts operate at 3.3V. PMD's PCI and PC/104-bus motion cards are high performance general purpose motion cards for controlling DC-brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD's Magellan Motion Processors, these products are available in 1, 2, 3, and 4 axis configurations and have advanced features such as 16bit D/A analog output, and on-board high speed performance tracing. MC73110 Developer's Kit Manual 7 1 PMD Product Overview 8 MC73110 Developer's Kit Manual 2.0 Installation In This Section Software Documentation Connection Configurations Installation Sequence Required Hardware Preparing the Card for Installation Connecting to the Card Applying Power Software Installation First Time System Verification 2 The PMD MC73110 Developer's Kit is an integrated board/software package that serves as an electrical and software design tool for MC73110-based systems. The major components of the kit are: Standalone MC73110-based card with 10 amp 3-phase brushless motor amplifier Serial cable to communicate with PC CD-ROM containing C-Motion and Pro-Motion software programs MC73110 Product Manual MC73110 Developer's Kit Manual The Developer's Kit is a self-standing card supported by aluminum standoff 4.093" x 6.800" in size. The PCB board is FR-4 four-layer with 2 oz. copper. The thickness is 62 mil. It accepts a single power connection of 18V to 48V, from which the card itself derives all other needed voltages using an on-board DC to DC converter device. During initial setup and operation, a serial cable connects the card to a PC, which runs PMD's Pro-Motion exerciser program. The serial port can be operated in point-to-point mode, or multi-drop mode. The card can also be operated standalone, without serial port connection. In this mode the card receives a command from an external motion controller via analog or digital hardware signals. When operated in standalone mode, MC73110 parameters are loaded into the MC73110 at power up via an on-board serial EEPROM which is installed in an 8-pin DIP socket located on the Developer's Kit card. The card drives a 3-phase brushless DC motor at up to 10 amps continuous current, 15 amps peak. A wide range of motor inductances are supported. An on-card temperature sensor can be used to alert the user of an overtemperature condition on the amplifier. MC73110 Developer's Kit Manual 9 2 Installation The following diagram provides a summary of the functions of the MC73110 Developer Kit card. The Developer's Kit can be used for a number of purposes. It is useful as a: `Ready to go' system that exercises the MC73110 Reference design for an MC73110-based amplifier/drive Pre-production system with which the user's application can be developed, and motors can be tested Test system from which various switching power block sections can be tested 10 MC73110 Developer's Kit Manual Installation 2 2.1 Software Two major software packages are provided with the MC73110 Developer's Kit cards: Pro-Motion, an interactive Windows-based exerciser program and C-Motion, a C-language library which simplifies the development of motion applications for MC73110 Developer's Kit cards. Pro-Motion is a sophisticated, easy to use exerciser program that allows you to set and view all card parameters, and exercise all card features. Pro-Motion features include: Project window for accessing card parameters Ability to save and load current settings Motor-specific parameter setup Command window for direct text command entry. Communications monitor that echoes all commands sent by Pro-Motion to the card. C-Motion provides a convenient set of callable routines that comprise all of the code required for controlling your MC73110 Developer's Kit card. C-Motion includes the following features: Axis virtualization The ability to communicate to multiple MC73110 Developer's Kit cards Can be easily linked to any "C/C++" application Pro-Motion is described in section 3, Using Pro-Motion, page 21, C-Motion is described in detail in section 4, Developing Your Own Applications with C-Motion, page 31. 2.2 Documentation There are two manuals specifically associated with the MC73110 card. A brief description of each is listed below. Component part number MC73110PM Name MC73110 Product Manual MC73110 Developer's Kit Manual Description This is the complete description of the MC73110 IC. It includes electrical specifications, theory of operations, and a programmer's command reference. This document guides you through installation and operation of the MC73110 Developer's Kit. It describes the Developer's Kit card and software, and provides complete schematics for the card. DK73110M To download these documents, or request that they be sent to you, visit the PMD website at www.pmdcorp.com or contact your PMD representative. MC73110 Developer's Kit Manual 11 2 Installation 2.3 Connection Configurations There are two major connection configurations of the MC73110 Developer's Kit. The first is `internal switcher', and the second is `remote switcher'. Internal switcher means that the Developer's Kit uses its internal 10 Amp continuous (15 amp peak) on-board MOSFET switchers and current sense circuitry to form a complete standalone intelligent amplifier card. This is the normal operating state of the system, and the most convenient to use when initially working with the MC73110 Developer's Kit. Remote switcher means that an external switching triple half-bridge and associated current sense and conditioning circuitry is installed. Section 5, Electrical Reference, page 33, provides complete details on the signals that are required to connect to an external amplifier. This configuration is useful for prototyping with a custom-designed amplifier for the purpose of verifying your own amplifier design, or driving motors with a larger current capacity than 10 Amps continuous. The diagrams below illustrate these two configurations. Internal switcher configuration Remote switcher configuration 12 MC73110 Developer's Kit Manual Installation 2 2.4 Installation Sequence For a normal installation of a MC73110 Developer's Kit card, you will need to configure your card for the connection configuration you will be using (internal or remote). Configuration of the MC73110 Developer's Kit card is described in detail in section 2.6, Preparing the Card for Installation, see page 14. Next you will need to connect your system's motors, encoders, amplifiers, and sensors as desired to operate your motion hardware. A description of the connections that are made for the MC73110 Developer's Kit card is found in section 2.7, Connecting to the Card, see page 15. Once this hardware configuration is complete, you should then install the software. Installation of the software is described in section 2.9, Software Installation, see page 19. The final step to finish the installation is to perform a functional test of the finished system. This is described in section 2.10, First Time System Verification, see page 19. Once all of the above has been accomplished installation is complete, and you are ready to operate the card. 2.5 Required Hardware To operate the MC73110 Developer's Kit card with Pro-Motion, the Windows-based exerciser program, you will need the following hardware: 1 The recommended platform is an Intel (or compatible) processor, Pentium or better, 5 MB of available disk space, 32MB of available RAM, and a CDROM drive. The PC operating system required is Windows 9X/ME/NT/2000/XP. with index. 2 A 3-phase Brushless DC Motor with Hall sensors and optional quadrature encoder feedback 3 Cables as required to connect to the MC73110 Developer's Kit card to your motor, to your encoder, to the card power input, to the analog or digital command signals. In addition you will connect the PC to the card via an included DB-9 cable. For complete descriptions of these connections see section 2.7, Connecting to the Card, page 15. MC73110 Developer's Kit Manual 13 2 Installation 2.6 Preparing the Card for Installation The following table shows the user-settable jumper options for the MC73110 Developer's Kit card. For jumper locations see the diagram on the bottom of the page. Jumper Jumper setting JP1, JP2 1-2 2-3 Description Selects RS-232 communication using on-board transceiver. This is the default position of this jumper. Selects RS-485 communication using user-provided daughtercard. For a complete description of the electrical requirements of this daughtercard, see section 5.2.3, RS-485 Connector, page 39. Reserved Reserved, must be set to 1-2 Selects use of on board amplifier/switcher. This is the default setting. Selects use of remote amplifier/switcher. This setting is useful to verify custom amplifier design or to connect to more powerful switching blocks. Reserved, must be set to 1-2. 3-4 JP3-JP5 JP6, JP7 1-2 1-2 2-3 JP9, JP10 1-2 In addition, the following resistor packs should be installed depending on whether single or differential quadrature encoders are used. Resistor How to set pack J8 Installed this is the default setting Removed Description If you are using differential connections leave the resistor pack installed. If you are using single-ended encoder connections, remove the resistor pack. Figure 1-1. Location of various board elements 14 MC73110 Developer's Kit Manual Installation 2 2.7 Connecting to the Card There are a total of seven connectors that can be used with the MC73110 Developer's Kit card as follows: Connector J1 J2 J3 J4 J5 J6 J7 Name Power Motor feedback RS-485 Motor Remote switcher Host Serial port Function Provides operating power to the Developer's Kit card. Inputs various motor-related signals. Provides communication to/from the card when a multi-drop RS485 is used. Provides high voltage, high current connections to the motor from the amplifier output. Inputs and outputs various signals for use with a remote switching block. Inputs and outputs various non-motor command and feedback signals to/from the Developer's Kit card. Provides RS-232 communication to/from the card using an on-card transceiver driver chip. This connector is designed to interface without null-modem or other changes to a DB-9 PC serial port. Here is a summary of the connector types expected for these 7 connectors: Connector Signal type J1 J2 J3 J4 J5 J6 J7 High power Low power digital & analog Low power digital High power Low power digital & analog Low power digital & analog Low power digital # pins 2 14 5 3 16 12 9 Type Through-hole terminal block (screw connection) Side-facing single row shrouded header (1-in-line 0.100" pitch friction lock header) 1-in-line 0.100" pitch header Through-hole terminal block (screw connection) 8 x 2 vertical header (2mm pitch) Side-facing single row shrouded header (1-in-line 0.100" pitch friction lock header) Side-facing D-sub 9 (Female) 2.7.1 Initial Setup To initially set up the Developer's Kit card for checkout and verification, four connectors must be used - J1 (Power), J2 (motor feedback), J4 (motor), and J7 (serial port). In addition, the host connector (J6) is frequently used during testing after initial setup, in which case the serial port becomes optional. The signal connections for these connectors are indicated in the following sections. For a complete description of all connectors see section 5, Electrical Reference, page 33. MC73110 Developer's Kit Manual 15 2 Installation 2.7.2 Power Connector (J1) The power connector provides power to the card. All other voltages used by the card are derived from this central supply using an on-card DC-DC converter. The voltage provided at these connections matches the voltage at which the motor will be driven. Pin # 1 2 Signal name V+ PowerGnd Description 18 - 48V. Current capacity specification should be maximum motor drive + 1amp (to power the card) Ground return for V+ 2.7.3 Motor Feedback Connector (J2) The motor feedback connector inputs various motor-related signals to the Developer's Kit card. All these signals are low power, low voltage digital or analog signals. Pin # 1 2 3 Signal +5V GND QuadA+ Description This signal provides 5V. This is often useful to power the encoder circuitry. This signal provides the digital return. This input signal provides the high side of the differential quadrature input for encoder phase A. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for encoder phase A. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the high side of the differential quadrature input for encoder phase B. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for encoder phase B. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing theCard for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the high side of the differential quadrature input for the Index signal. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for the Index signal. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing theCard for Installation, page 14. If unused this signal may be left unconnected. This signal provides the digital return. These signals are the Hall sensor inputs. For logic "0", the signal should be lower than 0.5V; for logic "1", the signal should be greater than 1.5V. This is the positive input signal for the analog tachometer signal. This signal represents the instantaneous speed of the motor. The input range is +/- 60V. If unused this signal may be left unconnected. This is the negative input for the analog tachometer signal. The input range is +/- 60V. If unused this signal may be left unconnected. 4 QuadA- 5 QuadB+ 6 QuadB- 7 Index+ 8 Index- 9 10 11 12 13 GND HallA HallB HallC TachIn+ 14 TachIn- (GND) 16 MC73110 Developer's Kit Manual Installation 2 2.7.4 Motor Connector (J4) The motor connector provides the high voltage 3-phase outputs from the amplifier/switcher to the motor. Pin # 1 2 3 Signal MotorC MotorB MotorA Description Leg 3 of 3 motor coil connections Leg 2 of 3 motor coil connections Leg 1 of 3 motor coil connections 2.7.5 Host Connector (J6) The Host connector inputs and outputs various non-motor related signals to/from the Developer's Kit card Pin # 1 Signal Estop Description This digital input provides an emergency stop signal to the Developer's Kit card. Although its function and interpretation are programmable, normally a high signal (greater than 1.5V) indicates an emergency stop is not active; and a low signal (less than .5V) indicates that it is active. If unused this signal may be left unconnected. 2 AmplifierDisable This digital output signal provides a programmable output signal indicating the internal state of the MC73110. Normally, a low output indicates an error, while a high signal indicates no error. In addition to being an output at this connector, this signal is also used internally by the MC73110 Developer's Kit card to shut down the amplifier's switchers when the amplifier operates in `internal switcher' mode. GND DigitalCmdClk GND +5V n.c. AnalogCmd+ This signal provides a digital ground return. This digital input signal provides the SPI datastream `clock' signal. This signal provides a digital ground return. This signal outputs provides 5V to external circuitry. -- This analog input signal provides the positive input of the analog command. Depending on how the MC73110's control loop has been programmed, this signal represents the desired voltage, torque or velocity. The input range is +/-10V. The reference input can be differential or single-ended. This analog input signal provides the negative input of the analog command. Depending on how the MC73110's control loop has been programmed, this signal represents the desired voltage, torque or velocity. The input range is +/-10V. The reference input can be differential or single-ended. When it is single-ended, AnalogCmd- must be connected to AGND, pin 12. This signal provides an analog ground return 3 4 5 6 7 8 9 10 DigitalCmdData This digital input signal provides the SPI datastream `data' signal 11 AnalogCmd- 12 AGND MC73110 Developer's Kit Manual 17 2 Installation 2.7.6 Serial Port Connector (J7) The RS-232 serial connector provides communication to/from the card using an on-card transceiver driver chip. This connector is designed to interface without null-modem or other changes to the DB-9 PC serial port. These signals are low power, low voltage digital or analog signals. Pin # 2 3 5 Signal SrlXmt SrlRcv GND Description Serial transmit signal from the MC73110 Developer's Kit transceiver chip. Serial receive signal to the MC73110 Developer's Kit card. Ground 2.8 Applying Power Once you have installed or removed the correct jumpers and resistor packs, and once you have made the correct connections to your hardware, installation is complete and the Developer's Kit is ready for operation. Upon application of power through connector J1, the card will be in a reset condition. Assuming that the flash hasn't been programmed or that a serial EEPROM hasn't been installed, the MC73110 will utilize its default values, and therefore, the motor should remain stationary. If the motors do move or jump, power down the card and check the amplifier and encoder connections. If anomalous behavior is still observed, call PMD or your distributor for application assistance. 2.8.1 Card Reset During card operations, if at any time you wish to reset the MC73110, you can use the reset button indicated in diagram 2.1 on page 14. Pushing the button will reset the controller. 2.8.2 LED Status Indicators The MC73110 Developer's Kit card has two LEDs to indicate the status of the board. Once the card has been powered up the green power status LED should light. After the AmplifierDisable output pin is driven to an Amplifier enabled condition, the red LED should light as well. The table below summarizes this: LED color Green Red Name Power Status Function The green LED is on when the board is powered up and the 3.3V is available. Amplifier Status The red LED is on when the amplifier is ready. It is controlled by the AmplifierDisable pin (pin 23) of the MC73110. Normally the red LED will be off after power up. See section 2.10, First Time System Verification, page 19, for more information. 18 MC73110 Developer's Kit Manual Installation 2 2.9 Software Installation Locate the CD included in the Developer's Kit. This CD contains software to exercise your board and source code that will enable you to develop your own motion applications. The exercise software is designed to work with Windows 95/98/ME or Windows NT/2000. If you have autorun enabled, the installation process will start when you insert the CD. The installation program will guide you through installing the software. Upon completion of the installation process, the following components will be installed: Pro-Motion - an application for communicating to and exercising the installed Developer's Kit. Refer to section 3, page 21, for operating instructions. C-Motion - source code that can be used for developing your own motion applications based on the MC73110. Refer to section 4, page 31, for further information. These files are installed in the "C-Motion" folder, a sub-folder of the installation folder. PDF versions of the Developer's Kit manual, programmer's reference and user's guide. The Adobe Acrobat Viewer is required for viewing these files. If the Adobe Acrobat Viewer is not installed on your computer, you can download it from 2.10 First Time System Verification After you have installed the card hardware, made the appropriate connections to your motor, and installed your software, you are ready to perform a simple test that will determine whether your motor is connected correctly. The following producedure should work for the majority of brushless motors, even if the gain parameters may not be optimized for your particular motor. Note that at any time the Pause/Break key can be pressed to disable the servo loops and motor output should the motor start to move erratically or uncontrollably. 1 Run Pro-Motion by double clicking the Pro-Motion icon on the desktop. 2 If Pro-Motion cannot find the DK Board verify the serial port connections and select the appropriate COM port in the Interface dialog and click OK. Accept the default serial port settings by clicking OK. Refer to section 3.1 Communication for more information. 3 If the Axis Wizard pops up click Cancel. 4 Select File/Open from the menu and open the StartupTest.pmd file. The parameters will be uploaded to the DK Board and the amplifier will be enabled. Be prepared to hit the Pause/ Break key to disable the motor if improper motion is observed. 5 The motor should now rotate slowly in either the clockwise or counterclockwise direction. If this occurs, the first time system verification has been completed succesfully. If not, recheck the motor connections. If the trouble persists contact PMD or a PMD representative for assistance. MC73110 Developer's Kit Manual 19 2 Installation 20 MC73110 Developer's Kit Manual 3.0 Using Pro-Motion In This Section Communication Axis Wizard Main Window 3 The Pro-Motion program facilitates the exercising of the MC73110. All chip parameters can be viewed and modified via standard Windows controls. Pro-Motion features: Project window for accessing chip parameters via properties dialog boxes. Command window for direct text command entry. Communications monitor that echoes all commands sent by Pro-Motion to the MC73110. MC73110 Product Manual 21 3 Using Pro-Motion 3.1 Communication When Pro-Motion is started it will attempt to connect to the DK Board via the the serial port using the default serial port settings. If it cannot communicate to the DK Board (or File/New is selected) the Interface selection dialog is displayed. Make sure the interface setting is set to COM port and the selected port is the one the DK Board is attached to. If the serial interface (COM port) is selected in the Interface selection dialog, the serial communication configuration screen is displayed. Make sure the serial cable is connected from the host computer's COM port to the DK Board. Set the serial interface parameters according to the default settings of 57600, None, 2, Point to point, 0. Click OK to attempt a connection and proceed to the Axis Setup Wizard. If no connection is made the Interface selection dialog will be displayed again allowing you to modify the interface parameters or run in demo mode. 22 MC73110 Developer's Kit Manual Using Pro-Motion 3 3.1.1 Axis Setup Wizard Once communication has been established with the DK Board, the connected motors may be put in motion by setting the appropriate Axis parameters. When Pro-Motion is run for the first time the Axis Setup Wizard will start automatically to configure the axis. To continue through the configuration process for all of the axis' parameters, click `Next' . To accept the default values, click `Cancel'. Individual Axis settings may be modified later via Pro-Motion's Axis Properties dialog which is accessed by right-clicking an Axis icon in the Project window and selecting `Properties'. The Axis Setup Wizard may be re-run at any time by selecting `Axis Wizard' from Pro-Motion's View menu. MC73110 Developer's Kit Manual 23 3 Using Pro-Motion 3.1.1 Step #1: Signal Output Settings On the Signal Output Settings page of the wizard, select the appropriate PWM output mode, PWM limit, PWM dead time and PWM output logic for the amplifier that is connected to the MC73110. The power on default settings are shown below. If you are using the DK Board the PWM dead time should be be reduced to a value of 32 which translates to 1.6 s. 3.1.2 Step #2: Initialize Signal Sensing This step of the Axis Setup Wizard is used to select the Signal Sense parameters. The default signal sense is active low. Users should check the Invert sense checkbox in the first column for any input signals which are active high. The Event status column displays and resets the event status bits. The Activity status column displays the activity status bits. The controls in this dialog are continually updated. 24 MC73110 Developer's Kit Manual Using Pro-Motion 3 3.1.3 Step #3: Safety Settings This step of the Axis Setup Wizard is used to set the Safety parameters. The settings as shown in the following figure will: 1. Disable the amplifier if the temperature exceeds 60 C or the Emergency stop signal is set. This particular configuration will latch the amplifer as disabled because the Amplifer Disable Source is set to Amplifer error which is latched in the Event status register. (see Initialize Signal Sensing) 2. Disable the servo loop if the Motion error exceeds 100000. Refer to the MC73110 Product Manual for further information on these settings. 3.1.4 Step #4: Commutation This step of the Axis Setup Wizard is used to set the Commutation parameters. If the Commutation mode is set to Sinusoidal, the motor will commutate in hall-based mode until a hall signal transition occurs. The phase angle parameter is read-only and cannot be set in the dialog. However, it can be set in the command window using the SetPhaseAngle command. Please see the MC73110 Product Manual for further information on phase initialization. MC73110 Developer's Kit Manual 25 3 Using Pro-Motion 3.1.4.1 Step #4a: Check Commutation The commutation may be verified by running the motor in open loop mode. Set the motor command parameter to a low value between 1% and 15%, keeping in mind that the motor may start to move at a rate proportional to the motor command setting. Click the Open loop start button. If the motor is commutating properly, smooth, continuous motion should occur in a single direction. Click the Stop button to stop motion. If the motor does not move or motion is erratic verify that Phase counts and signal sense is set correctly. The signal sense can be accessed by going back to the Signals page. 3.1.5 Step #5: Velocity Integrator Loop Parameters This step of the Axis Setup Wizard is used to select the Velocity Integrator Loop parameters. 3.1.6 Step #6: Velocity Loop Parameters This step of the Axis Setup Wizard is used to select the Velocity Loop parameters. 26 MC73110 Developer's Kit Manual Using Pro-Motion 3 3.2.6 Step #7: Current Loop Parameters This step of the Axis Setup Wizard is used to select the Current Loop parameters. 3.2.7 Step #8: Miscellaneous Settings The Miscellaneous Settings page contains the parameters for controlling the servo loops and motor dynamics. The power-on default settings are shown in the following figure. When Motor Mode is off all the loops are disabled (open loop mode) and Motor command controls the motor speed. The dynamics settings have no effect in this mode. When the command source is set to Analog the command for the velocity or current loops originates from the analog input signal. When set to SPI the command for the velocity or current loops is a 16-bit value read from the incoming SPI data stream. When set to Profile Generator the command is generated internally based on the Velocity and Acceleration parameters. Click the Finish button to update the motion processor parameters. MC73110 Developer's Kit Manual 27 3 Using Pro-Motion 3.2 Main Window The main window is comprised of 3 subwindows, the project window, the command window and the output window. The workspace and output windows are control bars which can be docked and resized at any location in the main window or undocked and moved anywhere on the desktop. They can be removed by clicking on the X. To re-display them, select the appropriate View menu item. The are a couple of keyboard shortcuts that can be used at any time: the Pause/Break key will disable the servo loops and motor output by setting MotorMode to 0 and MotorCommand to 0. the Scroll Lock key will start and stop the output window from displaying communication activity. 3.2.1 Project Window The Project window displays the available DK Board's and axes in a tree format. Double-clicking on a board or axis will display the properties dialog for that item. 28 MC73110 Developer's Kit Manual Using Pro-Motion 3 3.2.2 Command Window The Command window in Pro-Motion allows you to issue commands directly to the MC73110. The window has a command line style interface that accepts all of the MC73110 commands. The MC73110 Programmer's Reference contains a full list of commands, along with their required parameters. The command window presents you with the command prompt `>'. The following sequence shows a typical command session: > Reset Processor reset > SetSignalSense 0x380 > SetPWMDeadTime 36 > SetPhaseCounts 2000 > SetLoopGain 0x0 50 > SetLoopGain 0x10 300 > SetLoopGain 0x20 30000 > SetVelocityScalar 2000 The Command window is not case-sensitive, so commands can be entered in any combination of upper and lower case characters. As shown above, commands are entered as a sequence of command name followed by up to 2 numeric parameters. Parameters can represent a single 16-bit word of data or a 32-bit double word of data, depending on what is required by the particular command. > SetLoopGain 1 300 In this example, the first parameter represents a 16-bit word that contains the selected loop gain, and the second parameter represents a 32-bit word that contains the loop gain value. All of the "Get" commands display the value returned by the chipset. > GetEventStatus 0x0309 Some commands require a parameter for selecting the desired value. > GetLoopGain 16 3000 In this example, 16 selects the loop gain number for which the value is retrieved. The Command window accepts numeric parameters in either decimal or hexadecimal format. Pre-fixing a numeric parameter with "0x" enters that number using hexadecimal format. MC73110 Developer's Kit Manual 29 3 Using Pro-Motion > GetLoopGain 0x10 3000 Pressing the Tab key at any time will display a list of available commands depending what is already typed in the command window. If nothing is typed in the command window then all of the available commands are displayed. If, for example, "geta" is typed in the command window then the list will contain all the commands starting with "geta". 30 MC73110 Developer's Kit Manual 4.0 Developing Your Own Applications with C-Motion In This Section Theory of Use 4 C-Motion is a "C" source code library that contains all the code required for communicating to the Motor Control processor using the serial interface. C-Motion includes the following features:Axis virtualization The ability to communicate to multiple PMD motion processors Can be easily linked to any "C/C++" application Supports serial communication The following files make up the C-Motion distribution: C-Motion.h/C-Motion.c PMDw32ser.h/PMDw32ser.c PMDutil.h/PMDutil.c PMDtrans.h/PMDtrans.c PMDecode.h PMDocode.h PMDtypes.h Definition/declaration of the processor command set Windows serial communication interface functions General utility functions Generic transport (interface) functions Defines the processor and C-Motion error codes Defines the control codes for processor commands Defines the basic types required by C-Motion C-Motion can be linked to your application code by including the above "C" source files in your application. Then, for any application source file that requires access to the motion processor #include "C-Motion.h". MC73110 Developer's Kit Manual 31 4 Developing Your Own Applications with C-Motion 4.1 Theory of Use C-Motion is a set of functions that encapsulate the motion processor command set. Every command has as its first parameter an "axis handle". The axis handle is a structure containing information about the interface to the motion processor and the axis number that the handle represents. Before communicating to the motion processor, the axis handle must be initialized using the following sequence of commands: // the axis handle PMDAxisHandle handle; // open serial interface to PMD processor and initialize handle to axis one PMDSetupAxisInterface_Serial( &handle, PMDAxis1, 1 ); // COM1 Once the axis handle has been initialized, any of the motion processor commands can be executed. C-Motion.h includes the prototypes for all motion processor commands as implemented in C-Motion. Refer to this file for the required parameters for each command. The MC73110 Product Manual is the primary source for information about the operation and purpose of each command. Every C-Motion processor command returns a status code of type PMDresult. The return code for every command executed should be checked before attempting to execute more commands. PMDresult result,status; result = PMDSetVelocity(&handle, 100000); if (result != PMD_ERR_OK) { printf("Error: %s\n", PMDGetErrorMessage(result)); return; } Many commands require additional parameters. Some standard values are defined by C-Motion and can be used with the appropriate commands. Refer to PMDtypes.h for a complete list of defined types. An example of calling one of the C-Motion functions with the pre-defined types is shown below. PMDSetConditionMask(&handle, PMDConditionMaskAmpDisable, PMDConditionOverTemp); In addition to the processor commands, C-Motion provides several support functions. A subset of these are: void PMDCloseAxisInterface(PMDAxisHandle* axis_handle); should be called to terminate an interface connection. char *PMDGetErrorMessage(PMDresult errorCode); returns a character string representation of the corresponding PMD chip or C-Motion error code. void GetCMotionVersion(PMDuint8* MajorVersion, PMDuint8* MinorVersion); returns the major and minor version number of C-Motion. 32 MC73110 Developer's Kit Manual 5.0 MC73110 Electrical Reference In This Section User-Settable Jumper Options Connecting to the Card 5 5.1 User-Settable Jumper Options The following table shows the user-settable jumper options for the MC73110 Developer's Kit card. For jumper locations see the diagram on the following page. Jumper Jumper setting JP1, JP2 1-2 2-3 Description Selects RS-232 communication using on-board transceiver. This is the default position of this jumper. Selects RS-485 communiction using user-provided daughtercard. For a complete description of the electrical requirements of this daughtercard, see section 5.2.3, RS-485 Communications, page 39. Reserved Reserved, must be set to 1-2 Selects use of on board amplifier/switcher. This is the default setting. Selects use of remote amplifier/switcher. This setting is useful to verify custom amplifier design or to connect to more powerful switching blocks . Reserved, must be set to 1-2 3-4 JP3-JP5 JP6, JP7 1-2 1-2 2-3 JP9, JP10 1-2 In addition, the following resistor pack should be installed depending on whether single or differential quadrature encoders are used. Resistor How to set pack J8 Installed this is the default setting Removed Description If you are using differential connections leave the resistor pack installed. If you are using single-ended encoder connections, remove the resistor pack. MC73110 Developer's Kit Manual 33 5 73110 Electrical Reference Figure 5-1. Location of various board elements 5.2 Connecting to the Card There are a total of seven connectors that can be used with the MC73110 Developer's Kit card as follows: Connector J1 J2 J3 J4 J5 J6 J7 Name Power Motor feedback RS-485 Motor Remote switcher Host Serial port Function Provides operating power to the developer's kit card. Inputs various motor-related signals. Provides communication to/from the card when a multi-drop RS485 is used. Provides high voltage, high current connections to the motor from the amplifier output. Inputs and outputs various signals for use with a remote switching block. Inputs and outputs various non-motor command and feedback signals to/from the developer's kit card. Provides RS-232 communication to/from the card using an on-card transceiver driver chip. This connector is designed to interface without null-modem or other changes to a DB-9 PC serial port. 34 MC73110 Developer's Kit Manual MC73110 Electrical Reference 5 Here is a summary of the connector types expected for these 7 connectors: Connector Signal type J1 J2 J3 J4 J5 J6 J7 High power Low power digital & analog Low power digital High power Low power digital & analog Low power digital & analog Low power digital # pins 2 14 5 3 16 12 9 Type Through-hole terminal block (screw connection) Side-facing single row shrouded header (1-in-line 0.100" pitch friction lock header) 1-in-line 0.100" pitch header Through-hole terminal block (screw connection) 8 x 2 vertical header (2mm pitich) Side-facing single row shrouded header (1-in-line 0.100" pitch friction lock header) Side-facing D-sub 9 (female) 5.2.1 Power Connector (J1) The power connector provides power to the card. All other voltages used by the card are derived from this central supply using an on-card DC-DC converter. The voltage provided at these connections matches the voltage at which the motor will be driven. Pin # 1 2 Signal name V+ PowerGnd Description 18 - 48V. Current capacity specification should be maximum motor drive + 1amp (to power the card) Ground return for V+ MC73110 Developer's Kit Manual 35 5 73110 Electrical Reference 5.2.2 Motor Feedback Connector (J2) The motor feedback connector inputs various motor-related signals to the developer's kit card. All these signals are low power, low voltage digital or analog signals. Pin # 1 2 3 Signal +5V GND QuadA+ Description This signal provides 5V. This is often useful to power the encoder circuitry. This signal provides the digital return. This input signal provides the high side of the differential quadrature input for encoder phase A. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for encoder phase A. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the high side of the differential quadrature input for encoder phase B. For more information on connecting encoders see section 2.6, Preparing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for encoder phase B. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing theCard for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the high side of the differential quadrature input for the Index signal. For more information on connecting encoders see section 2.6, Prepariing the Card for Installation, page 14. If unused this signal may be left unconnected. This input signal provides the low side of the differential quadrature input for the Index signal. When using a single-ended encoder, this pin should be left unconnected. For more information on connecting encoders see section 2.6, Preparing theCard for Installation, page 14. If unused this signal may be left unconnected. This signal provides the digital return. These signals are the Hall sensor inputs. For logic "0", the signal should be lower than 0.5V; for logic "1", the signal should be greater than 1.5V. This is the positive input signal for the analog tachometer signal. This signal represents the instantaneous speed of the motor. The input range is +/- 60V. If unused this signal may be left unconnected. This is the negative input for the analog tachometer signal. The input range is +/- 60V. If unused this signal may be left unconnected. 4 QuadA- 5 QuadB+ 6 QuadB- 7 Index+ 8 Index- 9 10 11 12 13 GND HallA HallB HallC TachIn+ 14 TachIn- (GND) 36 MC73110 Developer's Kit Manual MC73110 Electrical Reference 5 5.2.3 RS485 Connector (J3) This connector provides communication to/from the card when a multi-drop RS485 is to be used. All these signals are low power, low voltage digital or analog signals. The connector that will be used matches the serial connector on our current DK card. Pin # 1 2 3 4 5 Signal SrlXmt SrlRcv SrlEnable GND Vcc Description This signal provides a serial transmit connection for RS485 communications This signal provides a serial receive connection for RS485 communications This signal provides a serial rnable connection for RS485 communications Ground +5V Vcc provided by card. 5.2.4 Motor Connector (J4) The motor connector provides the high voltage 3-phase outputs from the amplifier/switcher to the motor. Pin # 1 2 3 Signal MotorC MotorB MotorA Description Leg 3 of 3 motor coil connections Leg 2 of 3 motor coil connections Leg 1 of 3 motor coil connections MC73110 Developer's Kit Manual 37 5 73110 Electrical Reference 5.2.5 Remote Switcher Connector (J5) The remote switcher connector inputs and outputs various signals that make it possible for the user to develop a separate switching block, while still using the digital logic of the DK card to power the motor control IC. Signal AmpliferEnable Pin # Description 1 This signal is connected to the AmplifierDisable signal from MC73110. It can be programmed to go inactive under certain erroneous MCP conditions This signal provides a digital input connected to the MC73110 pin of the same name. A high level on this signal indicates that PWMOutputDisable is not active, a low indicates it is active. This signal connects to the remote switcher's temperature sensor I2C clock connection. This signal connects to the remote switcher's temperature sensor I2C data connection. These signals connect to the PWM drive signals of the same name at the MC73110. PWMOutputDisable 2 I2CClk I2Cdata PWMCHigh/PWMC PWMLow PWMBHigh/PWMB PWMBLow PWMAHigh/PWMA PWMALow +3.3V AGND 3 4 5 6 7 8 9 10 11 12 13 14 15 16 +3.3V power for digital logic These signals are analog returns. These analog input signals hold the instantaneous current through phase A and phase B of the motor coils. The input voltage range is 0 to 3.3V, referenced at to 1.65V. CurrentA CurrentB 38 MC73110 Developer's Kit Manual MC73110 Electrical Reference 5 5.2.6 Host Connector (J6) The Host connector inputs and outputs various non-motor related signals to/from the developer's kit card. Pin # 1 Signal Estop Description This digital input provides an emergency stop signal to the developer's kit card. Although its function and interpretation are programmable, normally a high signal (greater than 1.5V) indicates an emergency stop is not active; and a low signal (less than .5V) indicates that it is active. If unused this signal may be left unconnected. 2 AmplifierDisable This digital output signal provides a programmable output signal indicating the internal state of the MC73110. Normally, a low output indicates an error, while a high signal indicates no error. In addition to being an output at this connector, this signal is also used internally by the MC73110 developer's kit card to shut down the amplifier's switchers when the amplifier operates in `internal switcher' mode. GND DigitalCmdClk GND +5V n.c. AnalogCmd+ This signal provides a digital ground return. This digital input signal provides the SPI datastream `clock' signal. This signal provides a digital ground return. This signal outputs provides 5V to external circuitry. -- This analog input signal provides the positive input of the analog command. Depending on how the MC73110's control loop has been programmed, this signal represents the desired voltage, torque or velocity. The input range is +/-10V. The reference input can differential or single-ended. This analog input signal provides the negative input of the analog command. Depending on how the MC73110's control loop has been programmed, this signal represents the desired voltage, torque or velocity. The input range is +/-10V. The reference input can be differential or single-ended. When it is single-ended, AnalogCmd- must be connected to AGND, pin 12. This signal provides an analog ground return 3 4 5 6 7 8 9 10 be 11 DigitalCmdData This digital input signal provides the SPI datastream `data' signal AnalogCmd- 12 AGND 5.2.7 Serial Port Connector (J7) The RS-232 serial connector provides communication to/from the card using an on-card transceiver driver chip. This connector is designed to interface without null-modem or other changes to the DB-9 PC serial port. These signals are low power, low voltage digital or analog signals. Pin # 2 3 5 Signal Description SrlXmt SrlRcv GND Serial transmit signal from the MC73110 Developer's Kit transceiver chip. Serial receive signal to the MC73110 Deverloper's Kit card. Ground MC73110 Developer's Kit Manual 39 Performance Motion Devices, Inc. 55 Old Bedford Road Lincoln, MA 01733 40 MC73110 Developer's Kit Manual |
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