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MC73110 Developer’s Kit

v

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

Содержание MC73110

Страница 1: ...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...

Страница 2: ...ut 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 transmi...

Страница 3: ...ing 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 l...

Страница 4: ...MC73110 Developer s Kit iv Related Documents MC73110 Advanced 3 Phase Motor Control IC Product Manual MC73110PM Electrical Specifications Theory of Operations and Command Reference for MC73110 IC...

Страница 5: ...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 Commuta...

Страница 6: ...MC73110 Developer s Kit vi...

Страница 7: ...ut 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 seri...

Страница 8: ...MC73110 Developer s Kit Manual 8 PMD Product Overview 1...

Страница 9: ...th 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 Durin...

Страница 10: ...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 wh...

Страница 11: ...per 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...

Страница 12: ...nd 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...

Страница 13: ...nstallation 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...

Страница 14: ...Connector page 39 3 4 Reserved JP3 JP5 1 2 Reserved must be set to 1 2 JP6 JP7 1 2 Selects use of on board amplifier switcher This is the default setting 2 3 Selects use of remote amplifier switcher...

Страница 15: ...ere is a summary of the connector types expected for these 7 connectors Connector Signal type pins Type J1 High power 2 Through hole terminal block screw connection J2 Low power 14 Side facing single...

Страница 16: ...ferential 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 6 Q...

Страница 17: ...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 3...

Страница 18: ...ilize 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 sti...

Страница 19: ...erification 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 you...

Страница 20: ...MC73110 Developer s Kit Manual 20 Installation 2...

Страница 21: ...tates 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...

Страница 22: ...s the one the DK Board is attached to If the serial interface COM port is selected in the Interface selection dialog the serial communication configura tion screen is displayed Make sure the serial ca...

Страница 23: ...etup 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...

Страница 24: ...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...

Страница 25: ...ent 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...

Страница 26: ...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...

Страница 27: ...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 c...

Страница 28: ...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 loo...

Страница 29: ...ation 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...

Страница 30: ...ime 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 ex...

Страница 31: ...files make up the C Motion distribution C Motion h C Motion c Definition declaration of the processor command set PMDw32ser h PMDw32ser c Windows serial communication interface functions PMDutil h PM...

Страница 32: ...bout 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 t...

Страница 33: ...requirements of this daughtercard see section 5 2 3 RS 485 Communications page 39 3 4 Reserved JP3 JP5 1 2 Reserved must be set to 1 2 JP6 JP7 1 2 Selects use of on board amplifier switcher This is t...

Страница 34: ...card when a multi drop RS485 is used J4 Motor Provides high voltage high current connections to the motor from the amplifier output J5 Remote switcher Inputs and outputs various signals for use with a...

Страница 35: ...J5 Low power 16 8 x 2 vertical header 2mm pitich digital analog J6 Low power 12 Side facing single row shrouded header digital analog 1 in line 0 100 pitch friction lock header J7 Low power digital 9...

Страница 36: ...s 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 e...

Страница 37: ...t This signal provides a serial transmit connection for RS485 communications 2 SrlRcv This signal provides a serial receive connection for RS485 communications 3 SrlEnable This signal provides a seria...

Страница 38: ...ted 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 I2CClk 3 This signal connects to the remote switcher s te...

Страница 39: ...ides the SPI datastream data signal 6 GND This signal provides a digital ground return 7 5V This signal outputs provides 5V to external circuitry 8 n c 9 10 AnalogCmd This analog input signal provides...

Страница 40: ...MC73110 Developer s Kit Manual 40 Performance Motion Devices Inc 55 Old Bedford Road Lincoln MA 01733...

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