Performance Motion Devices Magellan DK58113 User Manual Download

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Performance Motion Devices, Inc.

1 Technology Park Drive

Westford, MA 01886

Revision 1.3, April 2021

Magellan

Motion Control IC

DK58113 Developer Kit User Manual

Summary of Contents for Magellan DK58113

Page 1: ...Performance Motion Devices Inc 1 Technology Park Drive Westford MA 01886 Revision 1 3 April 2021 Magellan Motion Control IC DK58113 Developer Kit User Manual ...

Page 2: ...ny 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 2021 by Performance Motion Devices Inc Juno Atlas Magellan ION...

Page 3: ...sing any Performance Motion Devices Inc product in connection with an Unauthorized Application the customer agrees to defend indemnify and hold harmless Performance Motion Devices Inc its officers directors employees and agents from and against any and all claims losses liabilities damages costs and expenses including without limitation reasonable attorneys fees collectively Damages arising out of...

Page 4: ... Descriptions of all Magellan Motion Control IC commands with coding syntax and examples listed alpha betically for quick reference PMD Resource Access Protocol Programming Reference Description of all Prodigy CME and ION CME product commands with software architecture overview command syntax and examples Atlas Digital Amplifier User Manual Description of the Atlas Digital Amplifier electrical and...

Page 5: ...cation 18 2 Operation 23 2 1 DK58113 Block Diagram 23 2 2 Communication Ports 24 2 3 Switching Motor Amplifier 26 2 4 Drive Protection and Control Signals 30 2 5 DC Bus 32 2 6 Connecting to a Remote Amplifier 34 2 7 Connecting to an Atlas Amplifier 35 2 8 Motor Feedback Signals 35 2 9 Enable and FaultOut Signals 38 2 10 Multi board Synchronization 39 2 11 On IC NVRAM Configuration Storage 40 3 Ele...

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Page 7: ...upport all members of the MC58113 IC family as shown below All of the above Developer Kit versions share the same physical DK58113 board They differ in the specific type of MC58113 series IC chip that is installed in the board Note that throughout this manual the term MC58113 may be used to mean all members of the MC58113 series including the MC58113 MC53113 MC51113 and MC54113 ICs The term DK5811...

Page 8: ...gnals Position capture Directional limit switches PWM output Parallel DAC output SPI Atlas interface SPI DAC output Pulse direction output Digital current control with Atlas Field oriented control with Atlas Under overvoltage sense with Atlas 12 T Current foldback with Atlas DC Bus shunt resistor control Overtemperature sense with Atlas Short circuit sense with Atlas Ground fault detection with At...

Page 9: ...e direction amplifier RS 232 RS 485 CANbus and SPI Serial Peripheral Interface host communications Single DC voltage supply Primary and auxiliary axis quadrature signal input with Index and Home capture Hall sensor Home limits AxisIn and AxisOut signals Support for overtemperature overcurrent over and undervoltage sense High current external shunt resistor support Pulse Direction signals with AtRe...

Page 10: ...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 board is ready for operation 1 7 Recommended Hardware To install a DK58113 board the following hardware is recommended Note that this list assumes that the on card amplifier will be used For installat...

Page 11: ...o work with Microsoft Windows To install the software 1 Go to the Software Downloads section of PMD s website located at https www pmdcorp com resources software and select download for Developer Kit Software 2 After selecting download you will be prompted to register your DK providing the serial for the DK and other information about you and your motion application 3 After selecting submit the ne...

Page 12: ...includes the following features Magellan axis virtualization Ability to communicate to multiple PMD motion cards or modules Ability to communicate via PC 104 bus serial CANbus Ethernet SPI Serial Peripheral Interface or 8 16 bit parallel bus Provided as source code allowing easy compilation porting onto various run time environments including a PC microprocessor embedded card or C Motion Engine Ca...

Page 13: ...uxiliary axis J4 Amplifier Signal Connector J10 SPI Atlas Bus Connector J12 Remote Amplifier Connector J14 Shunt Connector J6 J7 CAN1 CAN2 Connectors respectively J5 Serial Connector J11 Host SPI Connector J13 Synch Connector J2 5V Power Connector D1 D2 D3 Power fault and amplifier enabled LED indicators respectively JP1 JP2 Remote amplifier enable jumpers JP4 RS 232 RS 485 selector jumper CAN2 J7...

Page 14: ...s the DK58113 for operation of the on card amplifier 2 3 Installing jumpers at 2 3 for JP1 and JP2 disables the on board amplifier and configures the DK58113 for operation with a user designed amplifier via the J12 Remote Amplifier Connector or with an Atlas DK amplifier via the J10 connector JP4 1 2 RS 232 1 2 Installing a jumper at 1 2 for JP4 configures the DK58113 for RS 232 serial operation 2...

Page 15: ...mplifier DC Brush Motor MC58113 or MC51113 Motor Drive Connector Amplifier Signal Connector Enable HV GND HV Power Connector Motor A Motor B Serial CANbus SPI Host I O Pin Signal Name Description 1 QuadA1 Differential A quadrature input optional for step motor axes 2 QuadA1 Differential A quadrature input optional for step motor axes 3 QuadB1 Differential B quadrature input optional for step motor...

Page 16: ...nnections however The J3 Motor Drive Connector is a male Molex Mini Fit Plus style connector You may refer to Figures 1 2 through 1 4 or use the table below to determine which leads should be connected for each supported motor type 7 Index1 Differential Index quadrature input optional for step motor axes 8 Hall1A Hall signal input phase A not used for DC Brush or step motors 9 Hall1B Hall signal i...

Page 17: ...d of the serial cable should be connected to one of your computer s USB ports 1 11 Applying Power Once you have made your motion hardware communication and power connections hardwareinstallation is complete and the board is ready for operation When power is applied the DK58113 s green power LED should light This LED is locatable using Figure 1 1 If the LED does not light recheck connections After ...

Page 18: ...nt In addition to application specific parameters you will need to enter various on card amplifier related parameters during Axis Wizard setup to safely operate with the on card amplifier Refer to Section 3 6 DK58113 On Board Amplifier Quick Reference of this manual for a list of these required settings 3 Execute a simple trajectory profile on each axis demonstrating that it is operating correctly...

Page 19: ... and is useful later on in the first time system verification If serial communications are not correctly established a message appears indicating that an error has occurred If this is the case recheck your connections and repeat from step 1 1 12 2 Initializing Motion Axis The next step to verify the correct operation of the system is to initialize the axis thereby verifying correct amplifier opera...

Page 20: ...rdware connections are functioning properly The most common reasons for the Axis Wizard to not complete normally are an inability to auto tune the servo motor or problems determining the correct commutation sequence for brushless DC motors Should this happen it is possible to perform a manual tuning or commutation setup if desired The Axis Wizard auto tuning routines are designed to provide stable...

Page 21: ...ay wish to exit Pro Motion for restart at a later time If you have changed additional control parameters and would like to save these parameters use File and Save Project to update the stored configuration file At this time you may update your existing project file or provide a new one Pro Motion provides various selectable units for distance and time but defaults to units of encoder counts or ste...

Page 22: ...rs established during Axis Wizard setup Do this by selecting File and Open Project selecting the correct file previously stored Operation of the DK58113 without proper safety settings established during Axis Wizard operation may harm the DK58113 board or the application hardware To avoid this be sure to restore saved control settings using the File Open Project menu item before operating the DK581...

Page 23: ... development system It directly interfaces to a host computer using serial CANBus or SPI communication and to all power and feedback signals required to drive a DC Brush Brushless DC or step motor The DK58113 incorporates several major subsystems including the MC58113 series IC itself communications interface circuitry a high performance MOSFET based motor amplifier a DC Bus conditioning system an...

Page 24: ...esign or alternatively communicate to the SPI port via a Windows based PC Figure 2 2 shows this While SPI is not recommended as a general inter card interface it may be useful in various circumstances such as to debug SPI specific problems with a user designed card The DK58113 does not have built in termination for RS 485 If a network application requires termination at the serial connector the re...

Page 25: ...e can be used with the shield routed through the CAN_SLD pins Item Part number Manufacturer Description J13 to SPI interface module Cable Cable 6001 01 PMD This cable interconnects the National Instruments USB 8452 module to the DK58113 s J13 connector SPI interface module NI USB 8452 National Instruments This module generates SPI signals compatible with the MC58113 s host SPI interface SPI interf...

Page 26: ...t be installed in the 1 2 position 2 3 1 Brushless DC Motor Drive Figure 2 3 shows the arrangement of the DK58113 s amplifier stage when the MC53113 IC is used or when the MC58113 IC is used with the Brushless DC motor type selected Figure 2 3 Brushless DC Motor Bridge Configuration As shown in the table below six PWM output signals and three analog feedback signals interface between the MC58113 I...

Page 27: ...MLow1C Digital low side drive output for motor phase C Current1A Analog input containing the current flow through the low side of the switching bridge for phase A Current1B Analog input containing the current flow through the low side of the switching bridge for phase B Current1C Analog input containing the current flow through the low side of the switching bridge for phase C MC58113 signal Descri...

Page 28: ... motor phase A negative coil terminal PWMHigh1C Digital high side drive output for motor phase B positive coil terminal PWMLow1C Digital low side drive output for motor phase B positive coil terminal PWMHigh1D Digital high side drive output for motor phase B negative coil terminal PWMLow1D Digital low side drive output for motor phase B negative coil terminal Current1A Analog input containing the ...

Page 29: ... for use with an off card step motor amplifier supporting those input signals PWM Switching Frequency 20 kHz This setting is motor specific Higher inductance motors should be set for 20 kHz Lower inductance motors may use 40 or 80 kHz to reduce current ripple and minimize heat generation PWM Dead Time 540 nSec For correct operation of the DK58113 s on card switching amplifier this parameter must b...

Page 30: ...ut Brushless DC motor Foldback Total Energy Limit 125 A2 sec This value should be entered to ensure the on card amplifier does not operate above the maximum safe current output DC Brush motor Foldback Continuous DC Current Limit 5 0 A This value should be entered to ensure the on card amplifier does not operate above the maximum safe current output DC Brush motor Foldback Total Energy Limit 125 A2...

Page 31: ...ent to be able to view and trace the amplifier temperature in units of degrees C This is accomplished by providing a conversion table to Pro Motion Note that use of this table is optional and is only required if display of temperature via Pro Motion is desired with units of degrees C In any case for the DK58113 the table DK58113 Temp Table txt should be selected 2 4 2 2 Temperature Limit The follo...

Page 32: ...nd short circuits 2 5 1 1 DC Bus Current Monitoring Scale Values The following DC bus current monitoring scale values for the DK58113 board are required to correctly operate the DC bus current monitoring functions Parameter Value Units Comments Bus current supply conversion 505 mA count This value should be entered so that the DC bus current supply can be traced and displayed correctly in amps Leg...

Page 33: ...following MC58113 DC bus voltage limits are required to safely operate the DK58113 board Note that these values are designed to protect the DK58113 circuitry More restrictive values may be used to protect the motor All of the MC58113 parameters described in this section can be conveniently specified using Pro Motion via the Axis Wizard See Section 1 12 First Time System Verification for more infor...

Page 34: ...connected through the J4 shunt connector and a comparison value of 51 Volts and a PWM duty cycle of 75 are specified When the HV voltage exceeds 51 0 Volts HV will be connected to GND via the shunt resistor resulting in an effective average current flow of 51 0V 75 10 ohms 3 825 amps The default value of the shunt comparison mechanism is disabled To enable both a voltage comparison value and a PWM...

Page 35: ... signals These signals are buffered and filtered in the Quadrature Signal Conditioning and Digital Signal Conditioning blocks respectively as shown in the block diagram DK58113 supports incremental quadrature encoders with count rates up to 25 Mcounts per second 2 8 1 Encoder Inputs The differential input circuitry for the encoder A B and Index signals is shown in Figure 2 9 This circuit accepts b...

Page 36: ...o reject noise Figure 2 10 Hall Input Circuits The Hall signals are only used with Brushless DC motors They are used to directly commutate the motor in 6 step commutation mode or to provide an absolute phase reference for sinusoidal commutation 2 8 3 Limit and Home Inputs The input buffer for the end of travel Limit and Home signals is shown in Figure 2 11 This circuit accepts signals in the range...

Page 37: ...p to 5V to allow direct interfacing to open collector sources without the need for an external pull up resistor and a 13 kHz R C low pass filter to reject noise Figure 2 12 AxisIn Circuit The output driver for the AxisOut signal is shown in Figure 2 13 This circuit can continuously sink over 100 mA and source 4mA from a pull up resistor to 5V The diode in series with the pull up resistor allows lo...

Page 38: ...8113 board and other control portions of the system Enable is an active low input that must be tied or driven low for the DK58113 output stage to be active FaultOut indicates a serious problem When DK58113 is operating properly FaultOut is inactive The polarity of these signals is fixed and cannot be changed via software The input buffer for the Enable input is shown in Figure 2 14 This circuit ac...

Page 39: ...ted on the DK58113 board J13 allows for the synchronization of multiple DK58113 boards within a single system To connect two or more DK58113 boards for synchronization a cable is required This cable is connected to the Synch connector on the board The Synch connector is wired in a T configuration as shown in Figure 2 16 For more information on synchronizing multiple DK58113 cards see the Magellan ...

Page 40: ...efore be useful to reduce or eliminate communications to the MC58113 IC during powerup See the Magellan Motion Control IC User Guide for more information on MC58113 series ICs powerup While developing a new MC58113 based application it is not recommended that the on IC NVRAM be used to store configuration data Pro Motion can store a wide variety of configuration parameters using its Save Project a...

Page 41: ...ID Factory Default Setting Setting Description JP1 JP2 1 2 on card amplifier 1 2 Installing jumpers at 1 2 for JP1 and JP2 configures the DK58113 for operation of the on card amplifier 2 3 Installing jumpers at 2 3 for JP1 and JP2 disables the on card amplifier and configures the DK58113 for operation with a user designed amplifier via the J12 Remote Amplifier Connector or with an Atlas DK amplifi...

Page 42: ...ultOut output signals to from the MC58113 IC SPI Atlas Bus J10 Interconnect signals for SPI Atlas bus compatible amplifi ers Remote Amplifier J12 Provides signals to allow connection to a user designed external amplifier Shunt J14 Switched HV supply voltage that connects to an external shunt resistor or other load for controlling HV overvolt age CAN1 CAN2 J6 J7 Provides connections to a CAN2 0B ho...

Page 43: ...enix Contact 5 circuit pluggable terminal block connector 3 2 3 Axis Feedback Connectors J8 J9 The Axis1 Feedback Connector J8 and Axis2 Feedback Connector J9 provide connections to various motor feedback signals The Feedback Connectors use 15 pin high density DB connectors which can be connected to the PMD MC HW 05 breakout board accessories Synch J13 Provides signals that allow synchronization o...

Page 44: ...ut 2 QuadA1 Axis 1 Quadrature A encoder input 3 QuadB1 Axis 1 Quadrature B encoder input 4 QuadB1 Axis 1 Quadrature B encoder input 5 GND Ground 6 Index1 Axis 1 Index input 7 Index1 Axis 1 Index input 8 Hall1A Axis 1 Hall A input 9 Hall1B Axis 1 Hall B input 10 Hall1C Axis 1 Hall C input 11 Home1 Axis 1 Home input 12 PosLim1 Axis 1 Positive direction limit switch input 13 NegLim1 Axis 1 Negative d...

Page 45: ...gital Amplifier User Manual for more information This connector is a male DB 9 connector Signal J8 Axis 1 Feedback Connector J9 Axis 2 Feedback Connector QuadAn J8 1 J9 1 QuadAn J8 2 J9 2 QuadBn J8 3 J9 3 QuadBn J8 4 J9 4 Indexn J8 6 J9 6 Indexn J8 7 J9 7 Vcc J8 14 J9 14 GND J8 5 J9 5 Signal J8 Axis 1 Feedback Connector J9 Axis 2 Feedback Connector QuadAn J8 1 J9 1 QuadBn J8 3 J9 3 Indexn J8 6 J9 ...

Page 46: ...peeds up to 1 Mbps There are two connectors J6 and J7 providing electrically identical signals These two connectors are designed to make it easy to connect the DK58113 board in a daisy chain configuration Termination at each end of the cable run 7 NC no connect 8 AmpSPIClock AmplifierSPIClock signal from MC58113 9 AmpSPIXmt AmplifierSPIXmt signal from MC58113 Pin Signal Description J12 Remote Ampl...

Page 47: ...This connector is an unshrouded 8 position double row male header 1 spacing Pin Signal Description J6 J7 CANbus Connectors 1 CAN Positive CAN signal connection 2 CAN Negative CAN signal connection 3 GND Ground 4 No Connect Pass through signal 5 No Connect Pass through signal 6 No Connect Pass through signal 7 GND Ground 8 No Connect Pass through signal Pin Connection RS 232 RS 485 Full Duplex J5 S...

Page 48: ... MC58113 IC Pin Signal Description J13 Synch Connector 1 Synch This pin inputs or outputs a synchronization signal that can be used to synchronize the loop rates of multiple MC58113s with each other or with another external source 2 GND Ground Pin Signal Description J2 5V Connector 1 5V 5 volts 2 5V 5 volts 3 GND Ground 4 GND Ground Label Connector Name Connector Part Number Connector Mate J1 HV P...

Page 49: ...mtec socket 8 position 1 spacing p n ISDM 04 J13 Synch 2 position unshrouded header male 1 spacing Samtec socket 2 position 1 spacing p n ISSM 02 J2 5V Power Molex KK254 solid header single row p n 22 27 2041 Molex KK254 crimp housing single row 4 circuits p n 22 01 2041 Connection Name DK58113 Pin Motor A J3 1 Motor B J3 2 Motor C J3 3 Case Shield J3 5 Connection Name DK58113 Pin Motor J3 1 Motor...

Page 50: ...resistors Digital outputs drive capacity Output source current 4mA sinking current 100mA CAN communications 2 0B compliant non isolated 1 Mbps Serial communications RS 232 signaling or RS 485 Full or Half Duplex data only Parameter Value Units Comments Motor Output Mode PWM High Low Set the motor output mode to PWM High Low for operation with the on card amplifier For remote amplifier control oper...

Page 51: ...um safe current output Step Motor Foldback Continuous Current Limit 5 0 A This value should be entered to ensure the on card amplifier does not operate above the maximum safe current output Step Motor Foldback Maximum Energy Limit 125 A2sec This value should be entered to ensure the on card amplifier does not operate above the maximum safe current output Temperature Limit 75 0 C This value should ...

Page 52: ...Electrical Reference 52 DK58113 Developer Kit User Manual 3 This page intentionally left blank ...

Page 53: ...6 components table front of board 13 configuration storage on IC NVRAM 40 connections communications 17 motor power 17 connectors feedback 35 D DC brush motors power stage configuration 26 DC bus current monitoring 32 overvoltage and undervoltage 33 diagrams AxisIn circuit 37 FaultOut circuit 39 main encoder input circuits 36 differential encoder signals 35 E encoder incremental quadrature 35 main...

Page 54: ...ower Stage 26 Q quadrature incremental encoders 35 R R C lowpass filter bandwidth Enable and FaultOut signals 38 Hall inputs 36 limit and home inputs 36 RS 232 485 connector communication ports 24 S safety interlocks 38 signals Enable 38 AxisIn and AxisOut 37 FaultOut 38 single ended 35 sinusoidal commutation 36 SPI bus 31 step motors power stage configuration 26 synch I O connectors 39 synchroniz...

Page 55: ... additional information or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com Performance Motion Devices 55 Old Bedford Rd Lincoln MA 01773 ...

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