PMD MC2400 Datasheet

Navigator™ Motion

Processor

MC2400 Series

Technical Specifications

for Microstepping Motion Control

Performance Motion Devices, Inc.

55 Old Bedford Road

Lincoln, MA 01773

Revision 1.6, October 2003

NOTICE

This document contains proprietary and confidential information of Performance Motion Devices,
Inc., and is protected by federal copyright law. The contents of this document may not be disclosed
to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express
written permission of 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, 1999 by Performance Motion Devices, Inc.
Navigator and C-Motion are trademarks of Performance Motion Devices, Inc

Warranty

PMD warrants performance of its products to the specifications applicable at the time of sale in
accordance with PMD's standard warranty. Testing and other quality control techniques are utilized
to the extent PMD 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. (PMD) 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 PMD 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

PMD assumes no liability for applications assistance or customer product design. PMD 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 PMD covering or relating to any
combination, machine, or process in which such products or services might be or are used. PMD's
publication of information regarding any third party's products or services does not constitute PMD's
approval, warranty or endorsement thereof.

MC2400 Technical Specifications

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MC2400 Technical Specifications

iv

Related Documents

Navigator Motion Processor User’s Guide (MC2000UG)

How to set up and use all members of the Navigator Motion Processor family.

Navigator Motion Processor Programmer’s Reference (MC2000PR)

Descriptions of all Navigator Motion Processor commands, with coding syntax and examples,
listed alphabetically for quick reference.

Navigator Motion Processor Technical Specifications

Five booklets containing physical and electrical characteristics, timing diagrams, pinouts, and pin
descriptions of each series:

MC2100 series, for brushed servo motion control (MC2100TS);
MC2300 series, for brushless servo motion control (MC2300TS);
MC2400 series, for microstepping motion control (MC2400TS);
MC2500 series, for stepping motion control (MC2500TS);
MC2800 Series, for brushed servo and brushless servo motion control (MC2800TS).

Navigator Motion Processor Developer’s Kit Manual (DK2000M)

How to install and configure the DK2000 developer’s kit PC board.

MC2400 Technical Specifications

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MC2400 Technical Specifications

vi

Table of Contents

Warranty...................................................................................................................................................... iii

Safety Notice ................................................................................................................................................ iii

Disclaimer..................................................................................................................................................... iii

Related Documents....................................................................................................................................... v

Table of Contents........................................................................................................................................ vii

1 The Navigator Family ............................................................................................................................... 9

2 Functional Characteristics...................................................................................................................... 11

2.1 Configurations, parameters, and performance .............................................................................. 11

2.2 Physical characteristics and mounting dimensions....................................................................... 13

2.2.1 CP chip ................................................................................................................................. 13

2.2.2 I/O chip................................................................................................................................. 14

2.3 Environmental and electrical ratings ............................................................................................15

2.4 System configuration.................................................................................................................... 15

2.5 Peripheral device address mapping...............................................................................................16

3 Electrical Characteristics........................................................................................................................ 17

3.1 DC characteristics......................................................................................................................... 17

3.2 AC characteristics......................................................................................................................... 17

4 I/O Timing Diagrams .............................................................................................................................. 19

4.1 Clock ............................................................................................................................................ 19

4.2 Quadrature encoder input ............................................................................................................. 19

4.3 Reset ............................................................................................................................................. 19

4.4 Host interface, 8/8 mode............................................................................................................... 20

4.4.1 Instruction write, 8/8 mode................................................................................................... 20

4.4.2 Data write, 8/8 mode ............................................................................................................20

4.4.3 Data read, 8/8 mode.............................................................................................................. 21

4.4.4 Status read, 8/8 mode............................................................................................................ 21

4.5 Host interface, 8/16 mode............................................................................................................. 22

4.5.1 Instruction write, 8/16 mode................................................................................................. 22

4.5.2 Data write, 8/16 mode...........................................................................................................22

4.5.3 Data read, 8/16 mode............................................................................................................23

4.5.4 Status read, 8/16 mode..........................................................................................................23

4.6 Host interface, 16/16 mode........................................................................................................... 24

4.6.1 Instruction write, 16/16 mode............................................................................................... 24

4.6.2 Data write, 16/16 mode......................................................................................................... 24

4.6.3 Data read, 16/16 mode.......................................................................................................... 25

4.6.4 Status read, 16/16 mode........................................................................................................ 25

4.7 External memory timing............................................................................................................... 26

4.7.1 External memory read........................................................................................................... 26

4.7.2 External memory write ......................................................................................................... 26

4.8 Peripheral device timing............................................................................................................... 27

4.8.1 Peripheral device read........................................................................................................... 27

4.8.2 Peripheral device write .........................................................................................................27

MC2400 Technical Specifications

vii

5 Pinouts and Pin Descriptions.................................................................................................................. 28

5.1 Pinouts for MC2440 ..................................................................................................................... 28

5.2 Pinouts for MC2420 ..................................................................................................................... 29

5.3 Pinouts for MC2410 ..................................................................................................................... 30

5.4 Pin description tables.................................................................................................................... 31

5.4.1 I/O chip................................................................................................................................. 31

5.4.2 CP chip ................................................................................................................................. 34

6 Application Notes..................................................................................................................................... 37

6.1 Design Tips................................................................................................................................... 37

6.2 ISA Bus Interface ......................................................................................................................... 39

6.3 RS-232 Serial Interface ................................................................................................................ 41

6.4 RS 422/485 Serial Interface.......................................................................................................... 43

6.5 PWM Motor Interface .................................................................................................................. 45

6.6 12-bit Parallel DAC Interface....................................................................................................... 47

6.7 16-bit Serial DAC Interface.......................................................................................................... 49

6.8 12-bit A/D Interface...................................................................................................................... 51

6.9 16-bit A/D Input ........................................................................................................................... 53

6.10 RAM Interface.............................................................................................................................. 55

6.11 User-defined I/O........................................................................................................................... 57

MC2400 Technical Specifications

viii

1 The Navigator Family

MC2100

# of axes

Motor type supported

Output format

Incremental encoder
input

Parallel word device input
Parallel communication
Serial communication
Diagnostic port
S-curve profiling
Electronic gearing
On-the-fly changes
Directional limit switches
Programmable bit output
Software-invertable

signals
PID servo control
Feedforward (accel & vel)
Derivative sampling time
Data trace/diagnostics
PWM output

Motion error detection

Axis settled indicator

DAC-compatible output

Series

4, 2, or 1 4, 2 or 1 4, 2 or 1 4, 2, or 1 4 or 2

Brushed servo

Brushed servo

(single phase)

√√√√ √√√√ √√√√ √√√√ √√√√

√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√

√√√√ √√√√ √√√√ √√√√ √√√√

√√√√ √√√√
√√√√ √√√√
√√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√

√√√√ √√√√

√√√√ √√√√

√√√√ √√√√ √√√√

MC2300

Series

Brushless

servo

Commutated

(6-step or

sinusoidal)

MC2400

Series

Stepping Stepping

Microstepping

MC2500

Series

Pulse and

direction

- -

- -

- -

√√√√

(with

encoder)

√√√√

(with

encoder)

√√√√

encoder)

√√√√

encoder)

Pulse & direction output - - ­Index & Home signals
Position capture
Analog input
User-defined I/O
External RAM support

√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√
√√√√ √√√√ √√√√ √√√√

Multi-chip
synchronization

Chipset part numbers

Developer's Kit p/n's:

√

√

(21x3) √

√ √

MC2140

(4 axes)

MC2120

(2 axes)

MC2110

(1 axis)

DK2100 DK2300 DK2400 DK2500 DK2800

√ (23x3) √

√ √

MC2340

(4 axes)

MC2320

(2 axes)

MC2310

(1 axis)

√ (24x3)

√ √

MC2440

(4 axes)

MC2420

(2 axes)

MC2410

(1 axis)

MC2540

(4 axes)

MC2520

(2 axes)

MC2510

(1 axis)

-

(with

(with

-

√√√√

MC2800

Series

Brushed servo

+ brushless servo

Brushed servo

(single phase)

+ commutated

(6-step sinusoidal)

√

√ (28x3)

√ √

MC2840

(4 axes)

MC2820

(2 axes)

√√√√
√√√√
√√√√
√√√√
√√√√
√√√√
√√√√
√√√√
√√√√

√√√√
√√√√
√√√√
√√√√
√√√√

√√√√

√√√√

√√√√

-

√√√√
√√√√
√√√√
√√√√
√√√√

MC2400 Technical Specifications

9

Introduction

This manual describes the operational characteristics of the MC2440, MC2420 and MC2410 Motion
Processors from PMD. These devices are members of PMD’s second-generation motion processor
family, which consists of 14 separate products organized into 5 series.

Each of these devices is complete chip-based motion processors. They provide trajectory generation
and related motion control functions. Depending on the type of motor controlled they provide
servo loop closure, on-board commutation for brushless motors, and high speed pulse and direction
outputs. Together these products provide a software-compatible family of dedicated motion
processors that can handle a large variety of system configurations.

Each of these chips utilize a similar architecture, consisting of a high-speed computation unit, along
with an ASIC (Application Specific Integrated Circuit). The computation unit contains special on­board hardware that makes it well suited for the task of motion control.

Along with similar hardware architecture these chips also share most software commands, so that
software written for one chipset may be re-used with another, even though the type of motor may be
different.

Each chipset consists of two PQFP (Plastic Quad Flat Pack) ICs: a 100-pin Input/Output (I/O)
chip, and a 132-pin Command Processor (CP) chip.

The five different series in the Navigator family are designed for a particular type of motor or control
scheme. Here is a summary description of each series.

Family Summary

MC2100 Series (MC2140, MC2120, MC2110) – This series outputs motor commands in either
PWM or DAC-compatible format for use with brushed servo motors, or with brushless servo
motors having external commutation.

MC2300 Series (MC2340, MC2320, MC2310) – This series outputs sinusoidally commutated
motor signals appropriate for driving brushless motors. Depending on the motor type, the output is a
two-phase or three-phase signal in either PWM or DAC-compatible format.

MC2400 Series (MC2440, MC2420, MC2410) – This series provides microstepping signals for
stepping motors. Two phased signals per axis are generated in either PWM or DAC-compatible
format.

MC2500 Series (MC2540, MC2520, MC2510) – These chipsets provide high-speed pulse and
direction signals for stepping motor systems.

MC2800 Series (MC2840, MC2820) – This series outputs sinusoidally or 6-step commutated motor
signals appropriate for driving brushless servo motors as well as PWM or DAC- compatible outputs
for driving brushed servo motors.

MC2400 Technical Specifications

10

2 Functional Characteristics

2.1 Configurations, parameters, and performance

Available configurations 4 axes (MC2440), 2 axes (MC2420), or 1 axis (MC2410)
Operating modes Open loop (motor command is driven from output of trajectory generator &

microstep generator, encoder input used for stall detection)

Communication modes 8/8 parallel (8 bit external parallel bus with 8 bit internal command word size)

8/16 parallel (8 bit external parallel bus with 16 bit internal command word size)
16/16 parallel (16 bit external parallel bus with 16 bit internal command word

size)
Point to point asynchronous serial
Multidrop asynchronous serial

Serial port baud rate range 1,200 baud to 416,667 baud
Position range -2,147,483,648 to +2,147,483,647 counts
Velocity range -32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample
Acceleration/deceleration ranges -32,768 to +32,767 counts/sample2 with a resolution of 1/65,536 counts/sample2
Jerk range 0 to ½ counts/sample3, with a resolution of 1/4,294,967,296 counts/sample3
Profile modes S-curve point-to-point (Velocity, acceleration, jerk, and position parameters)

Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position
parameters)

Velocity-contouring (Velocity, acceleration, and deceleration parameters)
Electronic Gear (Encoder or trajectory position of one axis used to drive a

second axis. Master and slave axes and gear ratio parameters)

Electronic gear ratio range -32,768 to +32,767 with a resolution of 1/65,536 (negative and positive

direction)

Position error tracking Motion error window (allows axis to be stopped upon exceeding programmable

window)
Tracking window (allows flag to be set if axis exceeds a programmable position

window)
Axis settled (allows flag to be set if axis exceeds a programmable position

window for a programmable amount of time after trajectory motion is compete)

Microstepping waveform Sinusoidal

Number of microsteps per full
step
Motor output modes PWM (8-bit resolution at 80 kHz or 10-bit resolution at 20 kHz)

Maximum encoder rate Incremental (up to 5 mcounts/sec)

Parallel encoder word size 16 bits

Parallel encoder read rate

Cycle rate timing range

Minimum cycle time

Programmable 1 to 256

DAC (16 bits)

Parallel-word (up to 160 mcounts/sec)

20 kHz (reads all axes every 50 µsec)

153.6 µsec to 32.767 milliseconds

153.6 µsec per enabled axis

MC2400 Technical Specifications

11

Multi-chip synchronization

Limit switches 2 per axis: one for each direction of travel
Position-capture triggers 2 per axis: index and home signals
Other digital signals (per axis) 1 AxisIn signal per axis, 1 AxisOut signal per axis
Software-invertable signals Encoder A, Encoder B, Index, Home, AxisIn, AxisOut, PositiveLimit,

Analog input 8 10-bit analog inputs
User defined discrete I/O 256 16-bit wide user defined I/O
RAM/external memory support 65,536 blocks of 32,768 16-bit words per block. Total accessible memory is

Trace modes one-time

Max. number of trace variables 4
Number of traceable variables 27
Number of host instructions 116

<10µsec difference between master and slave profile calculation cycle
MC24x3 chipset only

NegativeLimit (all individually programmable per axis)

2,147,483,648 16 bit words

continuous

MC2400 Technical Specifications

12

2.2 Physical characteristics and mounting dimensions

2.2.1 CP chip

All dimensions are in inches (with millimeters in brackets).

Dimension Minimum

(inches)

D 1.070 1.090
D1 0.934 0.966
D2 1.088 1.112
D3 0.800 nominal

Maximum
(inches)

MC2400 Technical Specifications

13

2.2.2 I/O chip

All dimensions are in millimeters.

Dimension Minimum

(mm)

A 3.40
A1 0.25 0.33
A2 2.55 2.80 3.05
b 0.22 0.38
c 0.13 0.23
D 22.95 23.20 23.45
D1 19.90 20.00 20.10
E 16.95 17.20 17.45
E1 13.90 14.00 14.01
e 0.65 BSC
L 0.73 0.88 1.03
ccc 0.10
theta 0° 7°

Nominal
(mm)

Maximum
(mm)

MC2400 Technical Specifications

14

2.3 Environmental and electrical ratings

All ratings and ranges are for both the I/O and CP chips.

Storage Temperature (T

Operating Temperature (T

Power Dissipation (P

Nominal Clock Frequency (F

Supply Voltage limits (V

)

s

)

a

) 600 mW (I/O and CP combined)

d

) 40.0 MHz

clk

) -0.3V to +7.0V

cc

Supply Voltage operating range (V

* An industrial version with an operating range of -40°C to 85°C is also available. Please contact
PMD for more information.

2.4 System configuration

The following figure shows the principal control and data paths in an MC2400 system.

Host

Parallel port

System clock
(40 MHz)

HostData0-15

Navigator Motion Processor

HostRdy

~HostSlct

~HostWrite

I/O CP

-55 °C to 150 °C

0 °C to 70 °C*

) 4.75V to 5.25V

cc

HostCmd

~HostRead

20MHz clock

Serial-port

host

Serial port

(alternatives)

Navigator Motion Processor

HostIntrpt

A

B

Encoder

Index

Home

PWM output

Motor amplifier

16-bit data bus

D/A

converter

S

e

AxisIn

AxisOut

A

C

D

o

u

t

p

u

t

P

r

l

a

a

l

i

l

r

p

e

-

o

d

n

w

t

u

o

t

c

g

n

a

r

f

o

u

i

n

t

i

r

p

a

l

i

o

r

Other user devices

External memory

User I/O

Positive

Negative

Hall sensors

(MC2300 only)

Limit

switches

Analog inputs

The CP chip contains the profile generator, which calculates velocity, acceleration, and position
values for a trajectory; and the commutation unit, which calculates a motor command for each motor
phase. The commutation unit produces one of two types of output:

• a Pulse-Width Modulated (PWM) signal output which passes via the data bus to the I/O
chip, where the output signal generator sends it to the motor amplifiers; or

MC2400 Technical Specifications

15

• a DAC-compatible value routed via the data bus to the appropriate D/A converter.

Axis position information returns to the motion processor through the I/O chip, in the form of
encoder feedback, or through the CP chip, in the form of parallel-word feedback.

2.5 Peripheral device address mapping

Device addresses on the CP chip’s data bus are memory-mapped to the following locations:

Address Device Description

0200h Serial port data Contains the configuration data (transmission rate,

0800h Parallel-word encoder Base address for parallel-word feedback devices

1000h User-defined Base address for user-defined I/O devices

2000h RAM page pointer Page pointer to external memory

4000h Motor-output DACs Base address for motor-output D/A converters

8000h I/O chip Base address for I/O chip communications

parity, stop bits, etc) for the asynchronous serial port

MC2400 Technical Specifications

16

3 Electrical Characteristics

3.1 DC characteristics

(Vcc and Ta per operating ratings, F

= 40.0 MHz)

clk

Symbol Parameter Minimum Maximum Conditions

Vcc Supply Voltage 4.75 V 5.25 V
Idd Supply Current 120 mA open outputs

Input Voltages

Vih Logic 1 input voltage 2.0 V Vcc + 0.3 V
Vil Logic 0 input voltage -0.3 V 0.8 V
V

Logic 1 voltage for reset pin (reset) 2.2 V Vcc + 0.3 V

ihreset

Output Voltages

Voh Logic 1 Output Voltage 2.4 V @CP Io = -23 mA

@I/O I

= -6 mA

o

Vol Logic 0 Output Voltage 0.33 V @CP Io = 6 mA

= 6 mA

@I/O I

o

Other

I

Tri-State output leakage current

out

Iin Input current

-5 µA 5 µA

-10 µA

-10 µA

Cio Input/Output capacitance 15 pF

10 µA

-10 µA

10 pF

@CP

< Vcc

0 < V

out

@CP
@I/O
0 < V

< Vcc

i

@CP typical
@I/O

Zai Analog input source impedance
E

Differential nonlinearity error.

dnl

Difference between the step width
and the ideal value.

E

Integral nonlinearity error.

inl

Maximum deviation from the best
straight line through the ADC
transfer characteristics, excluding
the quantization error.

3.2 AC characteristics

See timing diagrams, Section 4, for Tn numbers. The symbol “~” indicates active low signal.

Timing Interval Tn Minimum Maximum

Clock Frequency (F
Clock Pulse Width T1 10 nsec
Clock Period (note 3) T2 25 nsec
Encoder Pulse Width T3 150 nsec
Dwell Time Per State T4 75 nsec

) > 0 MHz 40 MHz (note 1)

clk

Analog Input

9kΩ

-1 1.5 LSB

+/-1.5 LSB

MC2400 Technical Specifications

17

Timing Interval Tn Minimum Maximum

Index Setup and Hold (relative to Quad
A and Quad B low)
~HostSlct Hold Time T6 0 nsec
~HostSlct Setup Time T7 0 nsec
HostCmd Setup Time T8 0 nsec
HostCmd Hold Time T9 0 nsec
Read Data Access Time T10 25 nsec
Read Data Hold Time T11 10 nsec
~HostRead High to HI-Z Time T12 20 nsec
HostRdy Delay Time T13 100 nsec 150 nsec
~HostWrite Pulse Width T14 70 nsec
Write Data Delay Time T15 35 nsec
Write Data Hold Time T16 0 nsec
Read Recovery Time (note 2) T17 60 nsec
Write Recovery Time (note 2) T18 60 nsec
Read Pulse Width T19 70 nsec
Address Setup Delay Time T20 7 nsec
Data Access Time T21 19 nsec
Data Hold Time T22 2 nsec
Address Setup Delay Time T23 7 nsec
Address Setup to WriteEnable High T24 72 nsec
RAMSlct Low to WriteEnable High T25 79 nsec
Address Hold Time T26 17 nsec
WriteEnable Pulse Width T27 39 nsec
Data Setup Time T28 3 nsec
Data Setup before Write High Time T29 42 nsec
Address Setup Delay Time T30 7 nsec
Data Access Time T31 71 nsec
Data Hold Time T32 2 nsec
Address Setup Delay Time T33 7 nsec
Address Setup to WriteEnable High T34 122 nsec
PeriphSlct Low to WriteEnable High T35 129 nsec
Address Hold Time T36 17 nsec
WriteEnable Pulse Width T37 89 nsec
Data Setup Time T38 3 nsec
Data Setup before Write High Time T39 92 nsec
Read to Write Delay Time T40 50 nsec
Reset Low Pulse Width T50

RAMSlct Low to Strobe Low T51 1 nsec
Strobe High to RAMSlct High T52 4 nsec
WriteEnable Low to Strobe Low T53 1 nsec
Strobe High to WriteEnable High T54 3 nsec
PeriphSlct Low to Strobe Low T55 1 nsec
Strobe High to PeriphSlct High T56 4 nsec
Device Ready/ Outputs Initialized T57 1 ms

Note 1 Performance figures and timing information valid at F

information and performance parameters at F

T5 0 nsec

5.0 µsec

< 40.0 MHz refer to section 6.1.

clk

= 40.0 MHz only. For timing

clk

Note 2 For 8/8 and 8/16 interface modes only.

Note 3 The clock low/high split has an allowable range of 45-55%.

MC2400 Technical Specifications

18