PMD MC3510 Datasheet
Pilot™ Motion Processor
MC3510 Single Chip
Technical Specifications
for Stepping Motion Control
Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Revision 1.1, 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 2000 by Performance Motion Devices, Inc.
Navigator, Pilot 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.
MC3510 Technical Specifications
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MC3510 Technical Specifications
iv
Related Documents
Pilot Motion Processor User’s Guide (MC3000UG)
How to set up and use all members of the Pilot Motion Processor family.
Pilot Motion Processor Programmer’s Reference (MC3000PR)
Descriptions of all Pilot Motion Processor commands, with coding syntax and examples, listed
alphabetically for quick reference.
Pilot Motion Processor Technical Specifications
These booklets contain physical and electrical characteristics, timing diagrams, pinouts and pin
descriptions of each:
MC3110, for brushed servo motion control (MC3110TS)
MC3310, for brushless servo motion control (MC3310TS)
MC3410, for microstepping motion control (MC3410TS)
MC3510, for stepper motion control (MC3510TS)
Pilot Motion Processor Developer’s Kit Manual (DK3000M)
How to install and configure the DK3510 developer’s kit PC board.
MC3510 Technical Specifications
v
MC3510 Technical Specifications
vi
Table of Contents
Warranty...................................................................................................................................................... iii
Safety Notice ................................................................................................................................................iii
Disclaimer.....................................................................................................................................................iii
Related Documents....................................................................................................................................... v
Table of Contents........................................................................................................................................ vii
1 The Pilot Family ........................................................................................................................................ 9
2 Functional Characteristics...................................................................................................................... 11
2.1 Configurations, parameters, and performance.............................................................................. 11
2.2 Physical characteristics and mounting dimensions....................................................................... 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, 8/16 mode (requires external logic device).......................................................... 19
4.4.1 Instruction write, 8/16 mode................................................................................................. 19
4.4.2 Data write, 8/16 mode...........................................................................................................19
4.4.3 Data read, 8/16 mode............................................................................................................20
4.4.4 Status read, 8/16 mode..........................................................................................................20
4.5 Host interface, 16/16 mode (requires external logic device) ........................................................ 21
4.5.1 Instruction write, 16/16 mode............................................................................................... 21
4.5.2 Data write, 16/16 mode......................................................................................................... 21
4.5.3 Data read, 16/16 mode.......................................................................................................... 22
4.5.4 Status read, 16/16 mode........................................................................................................ 22
4.6 External memory timing............................................................................................................... 23
4.6.1 External memory read........................................................................................................... 23
4.6.2 External memory write......................................................................................................... 23
4.7 Peripheral device timing............................................................................................................... 24
4.7.1 Peripheral device read........................................................................................................... 24
4.7.2 Peripheral device write.........................................................................................................24
5 Pinouts and Pin Descriptions.................................................................................................................. 25
5.1 Pinouts for MC3510..................................................................................................................... 25
5.2 CP chip pin description table........................................................................................................ 26
6 Parallel Communication......................................................................................................................... 29
6.1 Host interface pin description table.............................................................................................. 29
6.2 16-bit Host Interface (IOPIL16)................................................................................................... 31
MC3510 Technical Specifications
vii
8-bit Host Interface (IOPIL8)....................................................................................................... 45
6.3
7 Application Notes..................................................................................................................................... 60
7.1 Design Tips................................................................................................................................... 60
7.2 RS-232 Serial Interface ................................................................................................................ 62
7.3 RS 422/485 Serial Interface.......................................................................................................... 64
7.4 RAM Interface.............................................................................................................................. 66
7.5 User-defined I/O........................................................................................................................... 68
7.6 12-bit A/D Interface...................................................................................................................... 70
7.7 16-bit A/D Input........................................................................................................................... 72
7.8 External Gating Logic Index ........................................................................................................ 74
MC3510 Technical Specifications
viii
1 The Pilot Family
Number of axes
Motor type supported
Output format
Incremental encoder
input
MC3110 MC3310 MC3410 MC3510
1 1 1 1
Brushed servo
Brushed servo
(single phase)
√ √ √ √
Brushless servo Stepping Stepping
Commutated (6-
step or sinusoidal)
Parallel word device
input
Parallel communication
Serial communication
S-curve profiling
On-the-fly changes
√ √ √ √
1
√
√1 √1 √1
√ √ √ √
√ √ √ √
√ √ √ √
Directional limit
switches
Programmable bit output
Software-invertable
signals
PID servo control
√ √ √ √
√ √ √ √
√ √ √ √
√ √
Feedforward (accel &
vel)
Derivative sampling time
Data trace/diagnostics
PWM output
Pulse & direction output
Index & Home signals
Motion error detection
Axis settled indicator
DAC-compatible output
Position capture
Analog input
User-defined I/O
External RAM support
√ √
√ √
√ √ √ √
√ √ √ -
- - - √
√ √ √ √
√ √
√ √
√ √ √ √ √ √ √
√ √ √ √
√ √ √ √
√ √ √ √
Multi-chip
synchronization
Chip part numbers
Developer's Kit p/n's:
1
Parallel communication is available via an additional logic device
(MC3113) √ (MC3313) √ (MC3413)
√
MC3110 MC3310 MC3410 MC3510
DK3110 DK3310 DK3410 DK3510
Microstepping Pulse and Direction
- -
- -
- -
√
(with encoder) √ (with encoder)
√
(with encoder) √ (with encoder)
-
Introduction
This manual describes the operational characteristics of the MC3510 Motion Processor from PMD.
This device is a member of the MC3000 family of single-chip, single-axis motion processors.
MC3510 Technical Specifications
9
Each device of the MC3000 family is a complete chip-based motion processor providing trajectory
generation and related motion control functions for one axis including pulse and direction output or
servo loop closure or on-board commutation where appropriate. This family of products provides a
software-compatible selection of dedicated motion processors that can handle a large variety of
system configurations.
The chip architecture not only makes it ideal for the task of motion control, it allows for similarities
in software commands, so software written for one motor type can be re-used if the motor type is
changed.
Pilot Family Summary
MC3110 – This single-chip, single-axis motion processor 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.
MC3310 – This single-chip, single-axis motion processor outputs sinusoidally commutated motor
signals appropriate for driving brushless motors. Depending on the motor type, the output is a twophase or three-phase signal in either PWM or DAC-compatible format.
MC3410 – This single-chip, single-axis motion processor outputs microstepping signals for stepping
motors. Two phased signals per axis are generated in either PWM or DAC-compatible format.
MC3510 – This single-chip, single-axis motion processor outputs pulse and direction signals for
stepping motor systems.
MC3510 Technical Specifications
10
2 Functional Characteristics
2.1 Configurations, parameters, and performance
Configuration
Operating modes
Communication modes
Serial port baud rate range
Position range
Velocity range
Acceleration/ deceleration ranges
Jerk range
Profile modes
Position error tracking
Maximum pulse rate
Maximum encoder rate
Parallel encoder word size
Parallel encoder read rate
Cycle loop timing range
Minimum cycle loop time
Limit switches
Position-capture triggers
Other digital signals
Software-invertable signals
Analog input
User defined discrete I/O
RAM/external memory support
Single axis, single chip.
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)
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
Multi-drop asynchronous serial
1,200 baud to 416,667 baud
-2,147,483,648 to +2,147,483,647 counts
-32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample
-32,768 to +32,767 counts/sample
0 to ½ counts/sample
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)
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)
50,000 pulses/sec
Incremental (up to 5 million counts/sec)
Parallel-word (up to 160 million counts/sec)
16 bits
20 kHz (reads all axes every 50 µsec)
102.4 µsec to 32.767 milliseconds
102.4 µsec
2 per axis: one for each direction of travel
2 per axis: index and home signals
1xAxisIn, 1xAxisOut, 1xAtRest
Index, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit (all individually
programmable)
8 10-bit analog inputs
256 16-bit wide user defined I/O
65,536 blocks of 32,768 16-bit words per block. Total accessible memory is
2,147,483,648 16 bit words
3
, with a resolution of 1/4,294,967,296 counts/sample3
2
with a resolution of 1/65,536 counts/sample2
MC3510 Technical Specifications
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Trace modes
Max. number of trace variables
Number of traceable variables
Number of host instructions
one-time
continuous
4
20
112
MC3510 Technical Specifications
12
2.2 Physical characteristics and mounting dimensions
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)
MC3510 Technical Specifications
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2.3 Environmental and electrical ratings
Storage Temperature (Ts)
Operating Temperature (T
Power Dissipation (P
Nominal Clock Frequency (F
Supply Voltage limits (V
a)
d)
clk)
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 MC3510 system.
Host
Parallel port
System clock
(40 MHz)
HostData0-15
Parallel Communication
HostRdy
~HostSlct
PLD/FPGA
~HostWrite
-55 °C to 150 °C
0 °C to 70 °C*
400 mW
20.0 MHz
-0.3V to +7.0V
HostCmd
4.75V to 5.25V
Pilot Motion Processor
M
2
H
0
z
c
l
o
c
k
Serial Port
CP
HostIntrpt
Home
Index
B
A
Encoder
cc)
~HostRead
16 bit data/address bus
External memory
User I/O
Parallel-word input
Serial port configuration
AxisIn
AxisOut
Positive
Limit
switches
Negative
AtRest
Pulse
Motor
Amplifier
Direction
The shaded area shows the CPLD/FPGA that must be provided by the designer if parallel
communication is required. A description and the necessary logic (in the form of schematics) of this
device are detailed in section 6 of this manual. 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.
MC3510 Technical Specifications
14
Optional axis position information returns to the motion in the form of incremental encoder
feedback or 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,
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 Parallel interface Base address for parallel interface communication
parity, stop bits, etc) for the asynchronous serial port
MC3510 Technical Specifications
15
3 Electrical Characteristics
3.1 DC characteristics
(Vcc and Ta per operating ratings, F
= 20.0 MHz)
clk
Symbol Parameter Minimum Maximum Conditions
Vcc Supply Voltage 4.75 V 5.25 V
Idd Supply Current 80 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 clock pin
ihclk
3.0 V Vcc + 0.3 V
(ClockIn)
V
Logic 0 voltage for clock pin
oclk
-0.3 V 0.7 V
(ClockIn)
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
Vol Logic 0 Output Voltage 0.33 V @CP Io = 6 mA
Other
I
Tri-State output leakage current
out
Iin Input current
-5 µA 5 µA
-10 µA
10 µA
@CP
0 < V
@CP
0 < V
< Vcc
out
< Vcc
i
Cio Input/Output capacitance 15 pF @CP typical
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 25 nsec
Clock Period (note 2) T2 50 nsec
Encoder Pulse Width T3 150 nsec
Dwell Time Per State T4 75 nsec
~HostSlct Hold Time T6 0 nsec
) > 0 MHz 20 MHz (note 1)
clk
Analog Input
9kΩ
-1 1.5 LSB
+/-1.5 LSB
MC3510 Technical Specifications
16
Timing Interval Tn Minimum Maximum
~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
5.0 µsec
Note 1 Performance figures and timing information valid at F
information and performance parameters at F
< 20.0 MHz, refer to section 7.1.
clk
= 20.0 MHz only. For timing
clk
Note 2 The clock low/high split has an allowable range of 45-55%.
MC3510 Technical Specifications
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4 I/O Timing Diagrams
For the values of Tn, please refer to the table in Section 3.2.
The host interface timing shown in diagrams 4.4 and 4.5 is only valid when an external logic device is
used to provide a parallel communication interface. Refer to section 6 for more information.
4.1 Clock
ClockIn
4.2 Quadrature encoder input
Quad A
Quad B
~Index
4.3 Reset
T1 T2
T3
T4
T1
T3
T4
ClockIn
~RESET
V
cc
T50
MC3510 Technical Specifications
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4.4 Host interface, 8/16 mode (requires external logic device)
4.4.1 Instruction write, 8/16 mode
T7
see note
~HostSlct
T6
HostCmd
~HostWrite
HostData0-7
HostRdy
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
4.4.2 Data write, 8/16 mode
~HostSlct
T7
T8
T15
T14
T16
T18
T9
see note
T14
T16
Low byteHigh byte
T15
T13
T6
see note
HostCmd
~HostWrite
HostData0-7
HostRdy
T8
see note
T16
T18
T14
T15
T14
High byte
T15
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.
T9
T16
Low byte
T13
MC3510 Technical Specifications
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4.4.3 Data read, 8/16 mode
~HostSlct
T7
T6
see note
HostCmd
~HostRead
HostData0-7
High-Z
HostRdy
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this
point.
4.4.4 Status read, 8/16 mode
~HostSlct
T8
T7
T10
T19
High
byte
T11
T12
see note
High-Z
Low byte
T13
T9
High-Z
T6
HostCmd
~HostRead
HostData0-7
T8
T17
T19
T12
High-Z High-Z
T10
High
byte
T11
MC3510 Technical Specifications
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Low byte
T9
High-Z
4.5 Host interface, 16/16 mode (requires external logic device)
4.5.1 Instruction write, 16/16 mode
~HostSlct
HostCmd
T7 T6
~HostWrite
HostData0-15
HostRdy
4.5.2 Data write, 16/16 mode
~HostSlct
HostCmd
T8
T14
T15
T13
T7 T6
T8
T9
T16
T9
~HostWrite
HostData0-15
HostRdy
T14
T15
T13
MC3510 Technical Specifications
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T16
4.5.3 Data read, 16/16 mode
~HostSlct
HostCmd
~HostRead
HostData0-15
HostRdy
T7
T8
High-Z
T10
T19
T13
T6
T9
T12
High-Z
T11
4.5.4 Status read, 16/16 mode
~HostSlct
HostCmd
~HostRead
HostData0-15
T7
T8
High-Z
T10
T19
T6
T9
T11
T12
High-Z
MC3510 Technical Specifications
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4.6 External memory timing
4.6.1 External memory read
Note: PMD recommends using memory with an access time no greater than 15 nsec.
~RAMSlct
Addr0-Addr15
W/~R
~WriteEnbl
Data0-Data15
~Strobe
4.6.2 External memory write
~RAMSlct
T20
T23
T40
T21
T52T51
T24
Addr0-Addr15
T25
R/~W
W/~R
T29
~WriteEnbl
T28
Data0-Data15
~Strobe
T26
T27
T53 T54
T27
MC3510 Technical Specifications
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