PMD MC2502 Datasheet
Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Navigator™ Motion Processor
MC2502 Series
Technical Specifications
for Stepping Motion Control
Revision 1.0, July 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, 2000 by Performance Motion Devices, Inc.
Navigator and C-Motion are trademarks of Performance Motion Devices, Inc
MC2502 Technical Specifications
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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.
MC2502 Technical Specifications
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MC2502 Technical Specifications
v
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
Four 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);
MC2502 Series, for stepping motion control (MC2502TS);
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.
MC2502 Technical Specifications
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MC2502 Technical Specifications
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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....................................................................... 12
2.2.1 CP chip ................................................................................................................................. 12
2.2.2 I/O chip................................................................................................................................. 13
2.3 Environmental and electrical ratings............................................................................................14
2.4 System configuration.................................................................................................................... 14
2.5 Peripheral device address mapping...............................................................................................15
3 Electrical Characteristics........................................................................................................................ 16
3.1 DC characteristics......................................................................................................................... 16
3.2 AC characteristics......................................................................................................................... 16
4 I/O Timing Diagrams..............................................................................................................................18
4.1 Clock ............................................................................................................................................ 18
4.2 Quadrature encoder input.............................................................................................................18
4.3 Reset............................................................................................................................................. 18
4.4 Host interface, 8/8 mode............................................................................................................... 19
4.4.1 Instruction write, 8/8 mode................................................................................................... 19
4.4.2 Data write, 8/8 mode ............................................................................................................19
4.4.3 Data read, 8/8 mode.............................................................................................................. 20
4.4.4 Status read, 8/8 mode............................................................................................................ 20
4.5 Host interface, 8/16 mode............................................................................................................. 21
4.5.1 Instruction write, 8/16 mode................................................................................................. 21
4.5.2 Data write, 8/16 mode...........................................................................................................21
4.5.3 Data read, 8/16 mode............................................................................................................22
4.5.4 Status read, 8/16 mode..........................................................................................................22
4.6 Host interface, 16/16 mode........................................................................................................... 23
4.6.1 Instruction write, 16/16 mode............................................................................................... 23
4.6.2 Data write, 16/16 mode......................................................................................................... 23
4.6.3 Data read, 16/16 mode.......................................................................................................... 24
4.6.4 Status read, 16/16 mode........................................................................................................ 24
4.7 External memory timing............................................................................................................... 25
4.7.1 External memory read........................................................................................................... 25
4.7.2 External memory write......................................................................................................... 25
4.8 Peripheral device timing............................................................................................................... 26
4.8.1 Peripheral device read........................................................................................................... 26
4.8.2 Peripheral device write.........................................................................................................26
MC2502 Technical Specifications
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5 Pinouts and Pin Descriptions.................................................................................................................. 27
5.1 Pinouts for MC2542..................................................................................................................... 27
5.2 Pinouts for MC2522..................................................................................................................... 28
5.3 Pinouts for MC2512..................................................................................................................... 29
5.4 Pin description tables.................................................................................................................... 30
5.4.1 I/O chip................................................................................................................................. 30
5.4.2 CP chip ................................................................................................................................. 33
6 Application Notes..................................................................................................................................... 36
6.1 Design Tips................................................................................................................................... 36
6.2 ISA Bus Interface......................................................................................................................... 38
6.3 RS-232 Serial Interface ................................................................................................................ 40
6.4 RS 422/485 Serial Interface.......................................................................................................... 42
6.5 12-bit A/D Interface...................................................................................................................... 44
6.6 16-bit A/D Input........................................................................................................................... 46
6.7 RAM Interface.............................................................................................................................. 48
6.8 User-defined I/O........................................................................................................................... 50
MC2502 Technical Specifications
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1 The Navigator Family
MC2100
Series
MC2300
Series
MC2400
Series
MC2502
Series
MC2800
Series
# of axes
4, 2, or 1 4, 2 or 1 4, 2 or 1 4, 2, or 1 4 or 2
Motor type supported
Brushed servo
Brushless
servo
Stepping Stepping
Brushed servo
+ brushless servo
Output format
Brushed servo
(single phase)
Commutated
(6-step or
sinusoidal)
Microstepping
Pulse and
direction
Brushed servo
(single phase)
+ commutated
(6-step or
sinusoidal)
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
√ √
√
(with
encoder)
√
(with
encoder)
√
Axis settled indicator
√ √
√
(with
encoder)
√
(with
encoder)
√
DAC-compatible output
√ √ √
-
√
Pulse & direction output - - -
√
-
Index & Home signals
√ √ √ √
√
Position capture
√ √ √ √
√
Analog input
√ √ √ √
√
User-defined I/O
√ √ √ √
√
External RAM support
√ √ √ √
√
Chipset part numbers
MC2140
(4 axes)
MC2120
(2 axes)
MC2110
(1 axis)
MC2340
(4 axes)
MC2320
(2 axes)
MC2310
(1 axis)
MC2440
(4 axes)
MC2420
(2 axes)
MC2410
(1 axis)
MC2542
(4 axes)
MC2522
(2 axes)
MC2512
(1 axis)
MC2840
(4 axes)
MC2820
(2 axes)
Developer's Kit p/n
DK2100 DK2300 DK2400 DK2502 DK2800
MC2502 Technical Specifications
10
Introduction
This manual describes the operational characteristics of the MC2542, MC2522 and MC2512 Motion
Processors from PMD. These devices are members of PMD’s second-generation motion processor
family, which consists of 17 separate products organized into 6 series.
Each of these devices is a complete chip-based motion processor. They provide trajectory
generation and related motion control functions, 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.
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.
Four of the series in the Navigator family are designed for a particular type of motor or control
scheme. The fifth allows the user to control 2 servo motor types (brushed and brushless). Here is a
summary description of each series.
Family Summary
MC2100 Series (MC2140, MC2120, MC2110) – This series outputs motor commands in either
Sign/Magnitude 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 or 6-step
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.
MC2502 Series (MC2542, MC2522, MC2512) – Reduced feature version of the MC2500, 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.
MC2502 Technical Specifications
11
2 Functional Characteristics
2.1 Configurations, parameters, and performance
Available configurations
4 axes (MC2542), 2 axes (MC2522), or 1 axis (MC2512)
Operating modes
Open loop (pulse generator is driven by trajectory generator output)
Stall detection (pulse generator is driven by trajectory generator output and
encoder feedback is 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/sample
2
with a resolution of 1/65,536 counts/sample2
Jerk range
0 to ½ counts/sample
3
, with a resolution of 1/4,294,967,296 counts/sample3
Profile modes
Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position
parameters)
Velocity-contouring (Velocity, acceleration, and deceleration parameters)
Maximum pulse rate
1.00 M-pulses/sec
Maximum encoder rate
Incremental (up to 5 Mcounts/sec)
Parallel-word (up to 160 Mcounts/sec)
Parallel encoder word size
16 bits
Parallel encoder read rate
20 kHz (reads all axes every 50 µsec)
Cycle rate timing range
102.4 µsec to 32.767 milliseconds
Minimum cycle time
102.4 µsec per enabled axis
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,
NegativeLimit, Pulse, Direction (all individually programmable per axis)
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
2,147,483,648 16 bit words
Trace modes
one-time
continuous
Max. number of trace variables
4
Number of traceable variables
20
Number of host instructions
106
MC2502 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)
Maximum
(inches)
D 1.070 1.090
D1 0.934 0.966
D2 1.088 1.112
D3 0.800 nominal
MC2502 Technical Specifications
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2.2.2 I/O chip
All dimensions are in millimeters.
Dimension Minimum
(mm)
Nominal
(mm)
Maximum
(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°
MC2502 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
s)
-55 °C to 150 °C
Operating Temperature (T
a)
0 °C to 70 °C*
Power Dissipation (P
d)
600 mW (I/O and CP combined)
Nominal Clock Frequency (F
clk)
40.0 MHz
Supply Voltage Limits (V
cc)
-0.3V to +7.0V
Supply Voltage Operating Range (V
cc)
4.75V to 5.25V
* 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 MC2502 system.
Host
Serial-port
host
I/O CP
HostData0-15
~HostSlct
Parallel port
Serial port
(alternatives)
System clock
(40 MHz)
HostIntrpt
Navigator Motion Processor
20MHz clock
HostRdy
~HostWrite
HostCmd
~HostRead
Navigator Motion Processor
AxisOut
Negative
Positive
AxisIn
Limit
switches
Motor amplifier
A
Home
Index
B
Encoder
Analog inputs
Pulse and Direction
External memory
Other user devices
16-bit data bus
User I/O
Serial port configuration
Parallel word input
AtRest
The CP chip contains the profile generator, which calculates velocity, acceleration, and position
values for a trajectory. The output of the trajectory generator is used to produce pulse and direction
signals that control motor position.
MC2502 Technical Specifications
15
Optional 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. This
position feedback may be used to detect motor stalling errors.
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,
parity, stop bits, etc) for the asynchronous serial port
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 Reserved Reserved for future use
8000h I/O chip Base address for I/O chip communications
MC2502 Technical Specifications
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3 Electrical Characteristics
3.1 DC characteristics
(Vcc and Ta per operating ratings, F
clk
= 40.0 MHz)
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
ihreset
Logic 1 voltage for reset pin (reset) 2.2 V Vcc + 0.3 V
Output Voltages
Voh Logic 1 Output Voltage 2.4 V @CP Io = -23 mA
@I/O I
o
= -6 mA
Vol Logic 0 Output Voltage 0.33 V @CP Io = 6 mA
@I/O I
o
= 6 mA
Other
I
out
Tri-State output leakage current
-5 µA 5 µA
@CP
0 < V
out
< Vcc
Iin Input current
-10 µA
-10 µA
10 µA
-10 µA
@CP
@I/O
0 < V
i
< Vcc
Cio Input/Output capacitance 15 pF
10 pF
@CP typical
@I/O
Analog Input
Zai Analog input source impedance
9kΩ
E
dnl
Differential nonlinearity error.
Difference between the step width
and the ideal value.
-1 1.5 LSB
E
inl
Integral nonlinearity error.
Maximum deviation from the best
straight line through the ADC
transfer characteristics, excluding
the quantization error.
+/-1.5 LSB
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
clk
) > 0 MHz 40 MHz (note 1)
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
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