PMD MC73110 Manuale utente

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

MC73110 Developer’s Kit

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.

Navigator®, Pro-Motion®and C-Motion®are registered trademarks of Performance Motion Devices, Inc.

MC73110 Developer’s Kit iii

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 publica-

tion 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

Related Documents

MC73110 Advanced 3-Phase Motor Control IC Product Manual (MC73110PM)

Electrical Specifications, Theory of Operations, and Command Reference for MC73110 IC.

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

MC73110 Developer’s Kit

MC73110 Developer’s Kit Manual 7

1.0 Product Overview 1

MC73110 Navigator/Pilot Magellan Motion Cards

Motor Control

Number of axes 1 1, 2, 4 1, 2, 3, 4 1, 2, 3, 4

Package 64-pin TQFP 132-pin PQFP 144-pin TQFP PCI

100-pin PQFP 100-pin TQFP PC/104

Voltage 3.3V 5V 3.3V 3V

Function Velocity control Position control Position control Position control

Torque control Encoder input Encoder input Encoder input

Commutation Profile generation Profile generation Profile generation

Encoder input Commutation Commutation Commutation

Network Signal conditioning

communications Analog output

Multi-motor Trace buffer

Motor types Brushless DC DC servo DC servo DC servo

Brushless DC Brushless DC Brushless DC

Microstepping Microstepping Microstepping

Pulse & direction Pulse & direction Pulse & direction

Communication Standalone Parallel Parallel PCI, PC104

Serial Serial point-to-point Serial point-to-point

Serial multi-drop Serial multi-drop

CANbus

Loop rate 20 kHz 100 -150 Sec/axis 50 -75 Sec/axis 50 -75 Sec/axis

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 communica-

tions, 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 16-

bit D/A analog output, and on-board high speed performance tracing.

MC73110 Developer’s Kit Manual

PMD Product Overview

MC73110 Developer’s Kit Manual 9

2.0 Installation 2

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

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 param-

eters 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 over-

temperature condition on the amplifier.

MC73110 Developer’s Kit Manual

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

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