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Performance Motion Devices PR8358120, User Manual

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Performance Motion Devices PR8358120 User Manual Download Page 67

Accessing Card Resources

Prodigy/CME PC/104 User’s Guide

67

3

3.5.2

PRP Messages over CANbus

If the Prodigy/CME PC/104 card is set up to process PRP command messages from a host controller over CANbus, 
a specific format for the packets must be followed. This section describes the format of how PRP messages are carried 
over CANbus.

Since native CANbus communications can not be larger than 8 bytes, hosting the PRP system, which can support 
shorter as well as longer messages, requires additional layers to manage data segmentation and desegmentation. The 
protocol that is used by the Prodigy/CME PC/104 cards to accomplish this is very similar to the SDO (Service Data 
Object) protocol of the CANopen standard.

The details of this protocol are extensive enough that they are not described here, but are available in the 

Prodigy/CME 

Programmer’s Reference

.

3.5.2.1

CANbus packet processing

Unlike the serial protocols, the SDO based CANbus protocol has a robust error checking and retransmission mecha-
nism built in that corrects for garbled or otherwise unusable transmissions.

Nevertheless, if a host controller does not receive the complete response packet within a specific time window (com-
munications timeout), then the original message should be resent.

3.5.3

PRP Messages over Ethernet

The existence of ports, and the broad range of packet lengths that are supported with the Ethernet protocol, makes 
sending PRP messages very simple. For both sent and received messages the PRP message is simply loaded as the 
‘payload’ of the Ethernet message. The only convention that must be observed is that the host controller’s destination 
TCP port must be equal to the Prodigy/CME PC/104 card’s TCP default value set using the 

SetDefault

 command. 

Note that the UDP protocol may not be used for PRP communications to/from the Prodigy/CME PC/104 card.

3.5.3.1

Ethernet packet processing

Unlike the serial protocols, Ethernet TCP packets have a robust error checking and retransmission mechanism built 
in that corrects for garbled or otherwise unusable transmissions.

Summary of Contents for PR8358120

Page 1: ...Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 2 December 2009 Prodigy CME PC 104 User s Guide ...

Page 2: ...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 2009 by Performance Motion Devices Inc Prodigy Magellan ION Magellan I...

Page 3: ...ability 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 r...

Page 4: ...tically for quick reference Prodigy CME Programmer s Reference Descriptions of all Prodigy CME product commands with software architecture overview command syn tax and examples C Motion Engine Development Tools Manual Description of the C Motion Engine development environment and software tools Pro Motion User s Guide User s guide to Pro Motion the easy to use motion system development tool and pe...

Page 5: ... 36 2 4 C Motion Engine Functions 41 2 5 Communications Functions 45 2 6 General Card Functions 50 2 7 Signal Processing and Hardware Functions 52 2 8 Software Libraries 54 Chapter 3 Accessing Card Resources 57 3 1 Resource Addressing 57 3 2 Accessing the Communications Ports 59 3 3 Accessing On Card Resources 63 3 4 Accessing Magellan Attached Devices 64 3 5 PRP Communication Formats 66 Chapter 4...

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Page 7: ...2 3 1 Outgoing and Returning PRP header formats 58 3 2 Example Network Configuration 61 3 3 Example Prodigy CME PC 104 Architecture with Ethernet Device Testers 62 3 4 Host Controller On card Resources 63 3 5 Host Controller Magellan attached Devices 65 3 6 PRP Message over Serial Format 66 4 1 Components and layout front of card 69 4 2 Prodigy CME PC 104 Card Component Location back view 70 4 3 S...

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Page 9: ...C 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 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 t...

Page 10: ...ulti phase motor command signals either in PWM pulse width modulated or analog 10V output format using Hall based or sinusoidal commutation The output is intended to interface with brushless DC amplifiers and motors Microstepping output is multi phase analog 10V or PWM pulse width modulation waveforms The output is intended to control 2 or 3 phase step motors using amplifiers which accept this com...

Page 11: ...ion Processor 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 Magellan axis virtualization Ability to communicate to multiple PMD motion cards or modules Ability to communicate via PCI bus PC 104 bus serial CANbus or Ethernet Provided as source code allowing easy compilation porting onto var...

Page 12: ...nnect card and it connects the Option Connector to an identical connector on a receiving card such as the IM 600 breakout interconnect card Cable 4301 01 R 10 pin serial header cable This 1 foot cable plugs into the card s 10 pin serial header con nector and provides a single female DB 9 output with dual serial signals It can be con nected to Cable 4355 01 R to provide dual DB 9 serial outputs Cab...

Page 13: ... the final step to finish the installation is to perform a functional test of the finished system See Section 1 11 First Time System Verification on page 21 for a description of this procedure Once these steps have been accomplished the installation is complete and the card is ready for operation 1 6 Recommended Hardware To install a Prodigy CME PC 104 card the following hardware is recommended In...

Page 14: ... of your computer s 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 Pro Motion an application ...

Page 15: ...n of the diagram to locate components Figure 1 1 Prodigy CME PC 104 Card Component Location front view Figure 1 2 Prodigy CME PC 104 Card Component Location back view Card Components The following table describes the components on the card as shown in Figure 1 1 and their functionality J19 J1 J9 J16 J17 J15 J12 J6 J5 RS3 J20 RS2 RS1 J21 J18 Ethernet LEDs Heartbeat LED Label Located Description RS1...

Page 16: ...W 1 on the Prodigy CME PC 104 card SW1 back side Motor output configuration J1 front side Extension Connector J2 back side Reserved J3 J4 back side Synch Connectors J5 J6 front side Right and Left Connectors J9 front side Option Connector J12 front side Pulse Direction Connector J15 front side Ethernet Connector J16 front side CANbus Connector J17 front side Serial Connector J19 front side Reserve...

Page 17: ...ion requirements All connections are made through GP Connector J6 locatable on the card using Figure 1 1 on page 15 See Chapter 4 Electrical Reference on page 69 for a detailed list of connections Signal Category Signal Description Encoder input signals per axis A quadrature Channel input B quadrature channel input Index pulse channel input Amplifier output signals per axis if PWM sign magnitude u...

Page 18: ...he Prodigy CME PC 104 cards when microstepping interface step motors are used Between one and four axes may be connected depending on the specific Prodigy card and application requirements All connections are made through the GP Connector J6 and Option Connector J5 Both of these connectors are locatable on the card using Figure 1 1 on page 15 Signal Category Signal Description Encoder input signal...

Page 19: ...hould be used Figure 1 4 shows a typical serial port connection Figure 1 4 Serial Port Connection The Ethernet connection will not be made until serial communications are established See Section 1 11 2 Changing the Ethernet Parameters of the Prodigy CME PC 104 Card on page 24 for detailed instructions on when to physically make the Ethernet connection When Ethernet is ready to connect use PMD s Ca...

Page 20: ...refore be provided by a different power supply 1 10 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 card will be in a reset condition In this condition no motor output will be applied Therefore the motors should remain stationary If the motors move or jump powe...

Page 21: ... 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 s Guide for complete information on the...

Page 22: ...n the File menu click Connect The purpose of the Interface dialog box is to indicate to Pro Motion how your Prodigy CME PC 104 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...

Page 23: ... axis of 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 10 seconds a dialog box appears indicating that a Communications Timeout Error has occurred If this is the c...

Page 24: ...ot 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 IP Address in the corresponding data field as well as the net mask and gateway if this is required for your networ...

Page 25: ...ions To disconnect serial communications 1 Select the serial link version of the Prodigy CME PC 104 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 3 Click OK You will notice that the serial Prodigy CME PC 104 card icon and axes graphical icons in the Project box disappear leaving only the Ethernet link...

Page 26: ...akes 3 5 minutes If you have specific questions about the Axis Wizard refer to Pro Motion User s Guide for detailed information on the axis wizard Upon a normal completion of the Axis Wizard the axis will be ready to make a controlled move For step motors this means the pulse direction connections are working properly and for servo motors this means the encoder and amplifiers connections have been...

Page 27: ...ive easy access to windows that are used while exercising the motion axes 3 Click the Trajectory button in the Axis Control window The Trajectory dialog box appears 4 In the Profile mode list select Trapezoidal The Axis Wizard auto tuning routine which is used with servo motors is designed to provide stable but not op timal parameters for motion Pro Motion provides a wealth of functions including ...

Page 28: ...is Visual Basic through the set of Active X libraries known as VB Motion and C C through the source code based system known as C Motion For more information on VB Motion and C Motion please consult the Magellan Motion Processor Programmer s Command Reference 1 12 1 Architecture Figure 1 6 on page 29 shows two ways to locate your application code with the Prodigy CME PC 104 cards Pro Motion provide...

Page 29: ...roller that can be used to control devices attached to the Prodigy CME card thereby unburdening PC based software and the PC s network connection hardware from this task 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 his machine and locating his software on the ha...

Page 30: ...Installation 30 Prodigy CME PC 104 User s Guide 1 Environment and walks you through an example session resulting in code being downloaded and executed on the Prodigy CME PC 104 card ...

Page 31: ...hless DC pulse direction and microstepping motors These cards are based on Magellan Motion Processors which perform motion command interpretation and numerous other real time functions The CME series Prodigy cards include a powerful C Motion Engine module which allows C Motion application code to be downloaded and executed directly on the motion card improving run time performance enabling distrib...

Page 32: ... are controlled by the Magellan Motion Processor but which reside outside the Magellan chip on various portions of the card circuitry These functions include general purpose digital I O a watch dog timer and many other capabilities 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 Pr...

Page 33: ...e organized into resources and resources process actions sent to them Actions can send information request information or command specific events to occur Addresses allow access to a specific resource on the card or connected to the card via the PC 104 bus serial CANbus or Ethernet connections A basic communication to the Prodigy CME PC 104 card consists of a 16 bit PRP header and an optional mess...

Page 34: ...description of on card hardware interconnections and signal management The Magellan instruction set is very flexible and powerful The following example which would be used to set up and execute a simple trapezoidal profile illustrates just a small part of the overall command set Prodigy CME card users who write their own software drivers from scratch will need to become familiar with the details o...

Page 35: ...n Magellan command packet formats and return packet formats see the Magellan Motion Processor Programmer s Command Reference In addition to accessing the on card Magellan it is also possible to access Magellan Motion Processors that are connected via the Prodigy CME PC 104 card s attached ports such as the PC 104 bus CANbus Serial or Ethernet networks An additional PRP action Open sent to either t...

Page 36: ... functions are accessed via the Magellan s ReadIO and WriteIO commands which provide control of hardware peripherals external to the Magellan Motion Processor In addition many of the Prodigy card motion hardware control functions can be accessed using VB Motion and C Motion named commands specific to that function See the subsequent feature specific sections for a description of both access method...

Page 37: ...terface to the Prodigy CME PC 104 card s general purpose I O signals by handling the byte shifting 2 3 1 1 Connections associated signals The general purpose I O are direct digital inputs and outputs There are no associated connections required for these signals to function properly however one or more of the digital grounds must be connected Digital inputs are pulled up through 4 7 kOhm resistors...

Page 38: ...g the WriteIO command with an address of 1 The table in Section 2 3 2 Amplifier Enable on page 37 shows this To read the status of the DAC output enable function ReadIO is used The value currently in use will appear in bit 7 A value of 1 indicates DAC output is enabled meaning that the voltage being output by the DACs is controlled by the motion processor A value of 0 indicates that it is disabled...

Page 39: ... card will have the result of setting all motor command outputs to zero thus allowing the motors to come to a safe stop An undervoltage condition is detected when the 3 3V internal supply on the card drops below 2 7V See Section 2 3 6 Reset Monitor on page 39 to determine if a reset was caused by an undervoltage condition 2 3 6 Reset Monitor During normal operations the Prodigy CME PC 104 card is ...

Page 40: ...value 0xf805 would be interpreted as Prodigy CME PC 104 card card generation 8 card revision 5 0 In addition to the low level ReadIO command a ReadCardID command is also supported by C Motion and VB Motion This command returns the Card ID in the format described above 2 3 8 Dual Ported RAM Trace Buffer The Prodigy CME PC 104 card has 64 KBytes of on card dual ported memory DPRAM which has one port...

Page 41: ...ser s Guide for more information on these commands In this read 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 the trace buffer after it has been written to by the Magellan Motion Processor is via the Prodigy CME PC 104 card s high speed communication ...

Page 42: ...e Prodigy CME PC 104 card Figure 2 3 provides an overview of the architecture of the C Motion Engine Figure 2 3 Overview of C Motion Engine Architecture The following table provides an operational overview of the capabilities and resources provided by the C Motion Engine 2 4 2 Powerup Operation Upon reset or power up the C Motion Engine initializes itself and checks to see whether execution of use...

Page 43: ...gine 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 power up and run continuously while the system is in operation For debugging however there are a number of additional controls At any point in time it is possible to stop or restart execution of the C Moti...

Page 44: ...he CMotionEngine resource To receive these messages within the C Motion Engine a special user packet peripheral is opened For more information see the Prodigy CME Programmer s Reference In addition to these communications commands when sent to the CMotionEngine resource the PRP action NOP performs a basic connection check The message body is empty A return without a PRP error code indicates that t...

Page 45: ... 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 us...

Page 46: ...function refer to the Prodigy CME Programmer s Reference 2 5 2 Serial 1 Serial 2 Communications Prodigy CME PC 104 cards provide asynchronous serial communications in either RS232 or RS485 mode Access to the serial port controller is managed using peripheral connections See Section 3 2 1 Peripheral Connections on page 60 for more information on creating and using peripheral connections In RS232 mo...

Page 47: ...y be operated at various communication rates from 10 000 to 1 000 000 bps bits per second In addition each CANbus devices is assigned two CAN identifiers also called a 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 To create a CANbus peripheral conversation the baud rate s...

Page 48: ...tion refer to the Prodigy CME Programmer s Reference 2 5 4 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 prod igy CME card from leaving connections open if the...

Page 49: ... to typical serial CANbus and Ethernet networks PMD provides a number of cable options to accomplish this conversion either during prototyping or for your production products The subsequent sections detail typical cable connections for these networks 2 5 5 1 RSR232 serial cable connections Serial 1 and Serial 2 may be accessed using PMD s off the shelf cable accessories Cable 4301 01 R has a 10 pi...

Page 50: ... a card reset all card default parameters are reloaded See Section 2 6 3 Setting Card Defaults on page 50 for more information on default values 2 6 2 1 Connections associated signals The reset feature has an external signal input Reset associated with it This active low signal is located on pin 91 of the GP Connector It is pulled up through a 4 7 kOhm resistor to 5 V In addition all of the signal...

Page 51: ...d While there are several possible ways to utilize the dual ported RAM in this way the most common configuration is for the user application code of the C Motion Engine to collect and store data to the dual ported RAM buffer and to have an external host controller read it To read or write to the dual ported RAM using the PRP system a resource address must first be obtained by sending the Open acti...

Page 52: ...ions provided in connection with these various signals Most of the signals are optional and are connected depending on the nature of the application These signals are named Home1 4 AxisIn1 4 AxisOut1 4 PosLim1 4 positive direction limit input NegLim1 4 negative direction limit input and Hall1A 4C 12 signals in all 2 7 1 1 Connections associated signals These signals are single ended digital inputs...

Page 53: ...onvenience as they are generally connected to a corresponding input on the encoder to power its internal circuitry As was the case for the digital input signals one or more of the digital grounds must also be connected See Chapter 4 Electrical Reference on page 69 for a complete description of the pinout connections to and from the card 2 7 3 Analog Input The Analog1 8 signals provide general purp...

Page 54: ... page 69 for a complete description of the pinout connections to and from the card 2 7 6 DAC Out For DC brush brushless DC or microstepping motors this is the analog motor command when the motor output mode is set to DAC Offset Binary digital to analog converter These signals are named DAC1A DAC4B 8 signals and vary between 10V and 10V The number of signals per axis depends upon the motor type See...

Page 55: ...sing C Motion on a host computer to be easily ported to the Prodigy CME PC 104 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 For a complete description of the C language commands supported by the Prodigy CM...

Page 56: ...Operation 56 Prodigy CME PC 104 User s Guide 2 This page intentionally left blank ...

Page 57: ...scheme that allows one or more host controllers to communicate with Prodigy CME PC 104 cards Prodigy CME cards to communicate with each other Prodigy CME cards to communicate with other PMD products such as IONs and non CME Prodigy cards Prodigy CME cards to communicate with user designed hardware or other off the shelf hardware 3 1 1 PMD Resource Access Protocol PRP The core of the PMD Resource a...

Page 58: ... Prodigy CME Programmer s Reference for more information Action This 4 bit field contains an action identifier that is used to process PRP messages See Section 3 1 3 PRP Actions on page 59 for a summary of the PRP actions supported by the Prodigy CME PC 104 card This field is not used in the return PRP header Resource This 3 bit field encodes the specific resource being addressed See the table in ...

Page 59: ...d CMotionEngine 1 0 The CMotionEngine resource indicates a C Motion Engine MotionProcessor 2 0 The MotionProcessor resource indicates a Magellan Motion Pro cessor Memory 3 0 The Memory resource indicates a dual ported RAM random access memory Peripheral 4 0 The Peripheral resource indicates a communications connection A peripheral address of 0 indicates a null peripheral See Sec tion 3 2 1 Periphe...

Page 60: ...nection parameters that will be used during communications with that specific peripheral connection Each new open peripheral connection receives an automatically assigned address The application code that requests the new peripheral connection must record that provided address for future use and it is this address that is used within the PRP message to reference the newly created peripheral connec...

Page 61: ...grammer s Reference To simplify the nomenclature for PRP messages a shorthand will be used which contains the mnemonic PRP the Resource ID the string Addr the resource address and the PRP action Any additional information pertaining to the error code or message body will be contained in the comment for the message NewPeriphID PRP Device Addr 0 Open Send a request to open a connection to the device...

Page 62: ...hernet device exerciser Figure 3 3 Example Prodigy CME PC 104 Architecture with Ethernet Device Testers In this example the Prodigy CME card sends messages to two different Ethernet TCP addresses and then closes those peripheral connections to allow the process to be repeated indefinitely For complete information on the format and function of these and other PRP commands refer to the Prodigy CME P...

Page 63: ...y CME PC 104 s on card Magellan with an action ID of 2 corresponding to the Command action The message body is loaded with the Magellan packet corresponding to Set Position 3 0x123456 which is the 3 word sequence 0x210 0x0012 0x3456 Upon processing of this command the host would receive a PRP message back A zero in the status field would indi cate that no error occurred If this is the case the mes...

Page 64: ...essing Magellan Attached Devices Section 3 2 1 Peripheral Connections on page 60 provided information on how general purpose messages can be sent to or received from any of the Prodigy CME PC 104 card s network ports This level of low level access can be useful to communicate with a wide variety of custom created or off the shelf products that are capable of communicating on that bus If the attach...

Page 65: ...card Magellan This illustrates a very powerful feature of the PRP system which is that it allows resources to be addressed transparently by the host controller or C Motion Engine module making it easy to create and access networks of PMD products Note also that the Open action can be used with different resource types In Section 3 2 1 Peripheral Connections on page 60 it was used with a resource t...

Page 66: ...d as everything in the serial packet after the length field That is the 2 byte PRP header plus however many bytes are contained in the PRP message body For example if the PRP message body is 6 bytes in size the value filled into the length field should be 8 2 bytes for PRP header 6 bytes for the PRP message body Figure 3 6 PRP Message over Serial Format Return PRP messages should be formatted in t...

Page 67: ...sed CANbus protocol has a robust error checking and retransmission mecha nism built in that corrects for garbled or otherwise unusable transmissions Nevertheless if a host controller does not receive the complete response packet within a specific time window com munications timeout then the original message should be resent 3 5 3 PRP Messages over Ethernet The existence of ports and the broad rang...

Page 68: ...Accessing Card Resources 68 Prodigy CME PC 104 User s Guide 3 This page intentionally left blank ...

Page 69: ...omponents Figure 4 1 illustrates the locations of the principal components of the Prodigy CME PC 104 cards The user settable components of the card are listed in the following table Figure 4 1 Components and layout front of card Component Function Resistor packs RS1 RS2 and RS3 Sets the encoder termination SW1 DIP switch Sets the GP Connector Motor Output Configuration J19 J1 J9 J16 J17 J15 J12 J6...

Page 70: ...coder input mode and resistor packs Encoder connections are detailed in the following tables All connections are made through the left and right GP Connector J6 and J5 respectively Encoder connections when using differential encoder input Item Setting Description Resistor packs RS1 RS2 RS3 Installed this is the default setting of resistor packs RS1 RS3 If differential connections are being used le...

Page 71: ...e Figure 4 3 on page 71 provides a diagram of SW1 See Figure 4 1 on page 69 for SW1 location on the Prodigy CME PC 104 card In the following table the individual switches are numbered from left to right Figure 4 3 Switch Settings by Output Type Signal J5 J6 GP Connector Pin Connections Axis 1 Axis 2 Axis 3 Axis 4 QuadAn J5 1 J5 19 J6 1 J6 19 QuadBn J5 3 J5 21 J6 3 J6 21 Indexn J5 5 J5 23 J6 5 J6 2...

Page 72: ...P J5 J6 Provides various motion connections to external amplifiers and motor elements Option J9 Used with brushless DC and microstepping motors the Option Connector provides additional connections to external amplifier and motor components Serial J17 Dual serial port for serial RS232 or RS485 connections Sync I O x2 J3 J4 Synchronizes additional cards within the same motion system CAN J16 Provides...

Page 73: ...6 GND Ground 26 GND Ground 27 PosLim2 Pos direction limit switch input axis 2 27 PosLim4 Pos direction limit switch input axis 4 28 NegLim2 Neg direction limit switch input axis 2 28 NegLim4 Neg direction limit switch input axis 4 29 Home2 Home input axis 2 29 Home4 Home input axis 4 30 AxisOut2 AxisOut output axis 2 30 AxisOut4 AxisOut output axis 4 31 PWMMag2A PWM magnitude output axis 2 31 PWMM...

Page 74: ... Vcc 5V 26 GND Ground 26 GND Ground 27 PosLim2 Pos direction limit switch input axis 2 27 PosLim4 Pos direction limit switch input axis 4 28 NegLim2 Neg direction limit switch input axis 2 28 NegLim4 Neg direction limit switch input axis 4 29 Home2 Home input axis 2 29 Home4 Home input axis 4 30 AxisOut2 AxisOut output axis 2 30 AxisOut4 AxisOut output axis 4 31 n c No connection 31 n c No connect...

Page 75: ... 5V 26 GND Ground 26 GND Ground 27 PosLim2 Pos direction limit switch input axis 2 27 PosLim4 Pos direction limit switch input axis 4 28 NegLim2 Neg direction limit switch input axis 2 28 NegLim4 Neg direction limit switch input axis 4 29 Home2 Home input axis 2 29 Home4 Home input axis 4 30 AxisOut2 AxisOut output axis 2 30 AxisOut4 AxisOut output axis 4 31 Pulse2 Pulse output axis 2 31 Pulse4 Pu...

Page 76: ...tput axis 3 37 AGND Ground for analog motor command 13 PWMMag3C PWMSign3B Phase C PWM magnitude output axis 3 Phase B PWM sign output axis 3 38 DAC1A Phase A analog mtr cmd output axis 1 10V 14 PWMSign3A Phase A PWM sign output axis 3 39 DAC2A Phase A analog mtr cmd output axis 2 10V 15 GND Ground 40 DAC3A Phase A analog mtr cmd output axis 3 10V 16 PWMMag4A Phase A PWM magnitude output axis 4 41 ...

Page 77: ...the Magellan Motion Processor User s Guide The pinouts for the Sync I O connectors are defined in the following table The following diagram shows three synchronized Cards Figure 4 4 Sync I O connector to three cards 4 2 8 CAN Connectors The Prodigy CME PC 104 card s controller area network CAN transceivers are designed for use with CAN controllers or with equivalent devices They are intended for u...

Page 78: ...ng line drivers Using this connector with pulse and direction step drivers will provide a higher immunity to noise reducing the chance of mispositioning The pins and their associated signals are described in the following table Pin Number Signal Description J16 1 Vcc 5V 2 CAN Positive CAN signal connection 3 no connect reserved do not connect 4 CAN Negative CAN signal connection 5 no connect reser...

Page 79: ...unintended machine motion during powerup care should be taken to control the overall powerup sequence of the Prodigy CME card and connected system motion amplifiers The recommended se quence is to first powerup the Prodigy CME card followed by powerup of the motion amplifiers The time delay to ensure stable operation of the control electronics before powering up the amplifiers varies depending on ...

Page 80: ... Sign connections are used if the Magellan s PWM Sign Magnitude mode is selected If PWM50 50 mode is selected then only the Magnitude connections are used 4 3 2 Brushless DC Motor Connections To connect to Brushless DC motors using internal commutation provided by the Magellan Motion Processor two sinusoidal phase signals are driven per axis via the Option Connector J9 Motor Output Method Signal O...

Page 81: ...17 PWMMag1 4C PWM phase 3 J9 3 J9 8 J9 13 J9 18 GND Ground J9 5 J9 10 J9 15 J9 20 Motor Output Method Connection Name Amplifier Input Connection Name Axis 1 Axis 2 Axis 3 Axis 4 DAC DAC1 4A Ref1 or V1 J9 38 J9 39 J9 40 J9 41 DAC1 4B Ref2 or V2 J9 42 J9 43 J9 44 J9 45 AGND Ref or GND J9 37 J9 46 J9 37 J9 46 PWM sign magnitude PWMMag1 4A PWM magnitude J9 1 J9 6 J9 11 J9 16 PWMSign1 4A PWM direction ...

Page 82: ...ide dual DB 9 serial outputs Cable 4355 01 R Dual serial cable This 5 foot long Y cable connects to the DB 9 output of Cable 4301 01 R and provides two female DB 9 connectors suitable for connection to a PC serial port or USB to serial converter Cable 4701 01 R CANbus header to RJ45 connector This 1 foot cable plugs into the card s 8 pin CANbus header connector and provides an RJ45 output Cable RJ...

Page 83: ...Cable 9 conductor 26 AWG untwisted Wiring See table 3 Srl2Rcv RS485Rcv 2 4 Srl1Rcv 7 5 Srl2Xmt RS485Xmt 3 6 Srl2Xmt RS485Xmt 8 7 RS485Xmt 4 8 GND 9 9 GND 5 10 no connect PMD Part Cable 4355 01 R Male DB 9 Pin Signal Connects to dual female DB 9 Pin Description Male DB 9 Dual Serial to two 1 RS485Select single channel female DB 9 cable 2 Srl1Xmt Port1 2 Length 5 0 feet 3 Srl1Rcv Port1 3 Cable 2 3 c...

Page 84: ...twisted 3 no connect no connect Wiring See table 4 CAN 2 5 no connect no connect 6 CAN no connect 7 GND 3 7 8 termination no connect PMD Part Cable RJ45 02 R Description Male RJ 45 to male RJ 45 cable Length 2 0 meters Cable 4P 24 AWG UTP Cat 5e Wiring Straight through PMD Part TRM RJ45 02 R Description RJ45 CANbus terminator 120 ohm between pins 1 and 2 PMD Part Adapt RJ45T 01 R Pin Split Pin 1 S...

Page 85: ...wire 0 050 pitch 28 AWG flat ribbon cable Wiring Straight through Storage temperature 40 to 125 degrees C 40 F to 257 F Operating temperature 0 to 70 degrees C 32 F to 158 F Power requirements 4 8V to 5 25V operating range 0 8A no outputs on Supply voltage limits 0 3V to 7V Analog DAC output range 10 0V to 10 0V 3mA min axis short circuit protected Analog input range 0 to 3 3V 1 4 kOhm input imped...

Page 86: ...scription 1000h General Purpose I O Includes the 8 digital inputs and 8 digital outputs 1001h Amplifier Enable register Also includes the DAC output enable for information 1002h Reset Monitor register See Section 2 3 6 Reset Monitor on page 39 1003h Reserved 1004h Watchdog register See Section 2 3 4 Card Watchdog Timer on page 39 1005h Reserved 1006h 100Fh Reserved 1010h 101Fh DC 1000 Includes the...

Page 87: ...custom peripherals over Extension Connec tor 10D0h 10DAh Reserved 10DBh Build register Build number of Prodigy FPGA 10DCh 10DFh Reserved 10E0h 10EFh None Available for use with custom peripherals over Extension Connec tor 10F0h 10FDh Reserved 10FEh Model type For compatibility with older Magellan Motion Card family 10FFh Card ID See Section 2 3 7 Card ID on page 40 Address Device Description ...

Page 88: ...Electrical Reference 88 Prodigy CME PC 104 User s Guide 4 This page intentionally left blank ...

Page 89: ...C 104 cards and also provides complete options for external connections All wiring to and from the Prodigy CME PC 104 card the amplifiers power supplies IOs and encoder feedback may easily be connected to this central point Figure 5 1 IM 1000 location of components Connector Description F1 1 Amp fuse for power supply F2 1 Amp fuse for power supply JP5 JP1 JP2 JP3 JP4 S1 Screw terminals F1 F2 J3 J5...

Page 90: ...2 VDC for the encoders To do this install jumpers JP1 JP2 JP3 and JP4 on pins 2 3 and connect the external power to screw terminal 106 and its ground to 107 This external power will be limited to 1 Amp by fuse F1 Connections to J3 the OPTO22 connector are as follows J1 100 position connector J3 OPTO22 connector J4 50 position connector J5 50 position connector S1 External hardware reset button Scr...

Page 91: ...ting system Alternatively the enclosure may be removed and the card mounted to other systems via the 3 5 mm mounting holes located on the corners of the card The table below illustrates the connections from the PC 104 PCI and Stand Alone versions of the Prodigy card s Option Connector and Pulse Direction Connector to the IM 600 s connectors In all cases the jack screw pins are J6 45 09 AmpEnable4 ...

Page 92: ...ified for these different encodings The DC 1000 can accept connections up to four axes at a read rate of 20 kHz Some of the major features of the DC 1000 are as follows Up to four axes can be read Resolution can be programmed for 10 12 13 or 25 bits Compatible with single and multi turn absolute encoders Programmable frequencies of 1 1 MHz 550 kHz 275 kHz and 137 5 kHz Default jumper settings can ...

Page 93: ... by the Prodigy CME PC 104 s Magellan Motion Processor The DC 1000 can be programmed for encoder resolutions of 10 12 13 and 25 bits The transmission speed may be programmed to accommodate cable lengths of greater than 300 meters and both single turn encoders and multi turn encoders may be employed The Prodigy CME PC 104 card will capture the absolute position of single turn encoders for a full 32...

Page 94: ...rd and are used for the mounting screws and stand offs JP1 Jumper This jumper selects either 5V or 12V supply voltage 5V DC is the default setting DC4 Encoder connector The encoders are connected to this pin block PC1 Power connector Use this pin block to connect a small Molex connector for DC power SW1 DIP switches This block of DIP switches is used to set encoder resolution for each axis DC7 PLD...

Page 95: ...g the DC 1000 The DC 1000 attaches directly to the Prodigy CME PC 104 card with the component sides of both cards facing each other The DC 1000 s parallel input socket DC1 connects to the Prodigy PC 104 card s Extension Connector J1 see Figure 4 1 on page 69 1 To mount the DC 1000 to the Prodigy CME PC 104 card orient the card as shown in Figure 5 4 on page 96 15 5 or 12 VDC to Encoder 3 16 Clock ...

Page 96: ...he two standoffs between the cards so that they are aligned with the two mounting holes and insert the mounting screws through the mounting holes and standoffs 5 Once the cards are mated attach the supplied IDC cable to the encoder connector on the DC 1000 Pin 1 of the connector is located nearest the JP1 jumper and the cable s connector must be oriented so that the red striped wire of the IDC cab...

Page 97: ...s resolution Assuming an encoder with 12 bits 4 096 the resulting modulus to be programmed would be 2 048 An additional command may be useful to program the SSI clock and resolution on the DC 1000 in situations where the SSI clock is running at a value other than 1 1Mhz and if a resolution other than the one set via the DIP switches is being used The resolution can be set to one of four values 10 ...

Page 98: ...Interconnect Module 98 Prodigy CME PC 104 User s Guide 5 This page intentionally left blank ...

Page 99: ...ble 4505 01 R 85 Cable 4701 01 R 84 Cable RJ45 02 R 84 cables 82 CAN connector 92 CAN serial communication physical layer 77 CANbus packet processing 67 card function summary 32 types 10 C Motion 11 14 engine development environment 11 engine development environment features 11 features 11 communication ports accessing 59 components table front of board 15 connection summary 17 80 connector 14 72 ...

Page 100: ...t 34 microstepping cards 74 motor connections 18 81 modulus settings 97 motion processor reset 39 motor amplifier output methods 80 axis 80 output configuration 16 output method 80 multi phase motor output 76 motors 80 multi turn encoders 93 N negative direction limit input 52 noise immunity 78 O operating temperature 85 optical encoders 93 option connector 76 OPTO22 connector 90 output phases 80 ...

Page 101: ...rial connector 76 Serial 1 communications 46 Serial 2 communications 46 serial packet processing 66 servo loop closure 32 shunting 38 signal conditioning 33 single ended connections 53 encoder input 71 encoders 70 single turn encoders 93 software commands DC 1000 97 libraries 54 packages 10 SSI 78 step pulse direction motor connections 81 storage temperature 85 supply voltage limits 85 sync I O 77...

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Page 103: ...itional 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 80 Central Street Boxborough MA 01719 ...

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