PMD MC55000 Datasheet

Magellan™

Magellan™Magellan™

Electrical Specification

Electrical SpecificationElectrical Specification

Motion Processor

Motion ProcessorMotion Processor

MC55000

MC55000 MC55000

for Pulse and Direction Motion Control

Preliminary

Performance Motion Devices, Inc.

55 Old Bedford Rd

Lincoln, MA 01773

Revision 0.6, November 2003

NOTICE

NOTICENOTICE

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.

Warranty

WarrantyWarranty

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

Safety NoticeSafety 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

DisclaimerDisclaimer

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.

MC55000 Electrical Specification – Preliminary 11/14/2003

iii

MC55000 Electrical Specification – Preliminary 11/14/2003

Related DocumentsRelated Documents

MC50000 Motion Processor User’s Guide (MC50000UG)

How to set up and use all members of the MC50000 Motion Processor family.

MC50000 Motion Processor Programmer’s Command Reference (MC50000PR)

Descriptions of all MC50000 Motion Processor commands, with coding syntax and examples, listed alphabetically for quick reference.

MC50000 Motion Processor Electrical Specifications

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

MC55000 Series, for stepping motion control (MC55000ES); MC58000 Series, for brushed and brushless servo, microstepping and stepping motion control (MC58000ES).

MC50000 Motion Processor Developer’s Kit Manual (DK50000M)

How to install and configure the DK50000 developer’s kit PC board.

MC55000 Electrical Specification – Preliminary 11/14/2003

Table of Contents

Table of ContentsTable of Contents

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

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

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

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

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

1 The MC50000 Family................................................................................................................................ 9

1.2 How to Order................................................................................................................................ 11

2 Functional Characteristics...................................................................................................................... 12

2.1 Configurations, parameters, and performance .............................................................................. 12

2.2 Physical characteristics and mounting dimensions....................................................................... 14

2.2.1 CP chip ................................................................................................................................. 14

2.2.2 IO chip .................................................................................................................................. 15

2.3 Environmental and electrical ratings ............................................................................................16

2.4 MC55110 System configuration – Single chip, 1 axis control ..................................................... 16

2.5 MC55020 System configuration – Two chip, 1 to 4 axis control................................................. 17

2.6 Peripheral device address mapping...............................................................................................18

3 Electrical Characteristics........................................................................................................................ 19

3.1 DC characteristics......................................................................................................................... 19

3.2 AC characteristics......................................................................................................................... 19

4 I/O Timing Diagrams .............................................................................................................................. 22

4.1 Clock ............................................................................................................................................ 22

4.2 Quadrature encoder input ............................................................................................................. 22

4.3 Reset ............................................................................................................................................. 22

4.4 Host interface, 8/16 mode............................................................................................................. 23

4.4.1 Instruction write, 8/16 mode................................................................................................. 23

4.4.2 Data write, 8/16 mode...........................................................................................................23

4.4.3 Data read, 8/16 mode............................................................................................................24

4.4.4 Status read, 8/16 mode..........................................................................................................24

4.5 Host interface, 16/16 mode........................................................................................................... 25

4.5.1 Instruction write, 16/16 mode............................................................................................... 25

4.5.2 Data write, 16/16 mode......................................................................................................... 25

4.5.3 Data read, 16/16 mode.......................................................................................................... 26

4.5.4 Status read, 16/16 mode........................................................................................................ 26

4.6 External memory timing............................................................................................................... 27

4.6.1 External memory read........................................................................................................... 27

4.6.2 External memory write ......................................................................................................... 28

4.7 Peripheral device timing............................................................................................................... 29

4.7.1 Peripheral device read........................................................................................................... 29

4.7.2 Peripheral device write .........................................................................................................30

5 Pinouts and Pin Descriptions.................................................................................................................. 31

5.1 Pinouts for the MC55110 ............................................................................................................. 31

5.1.1 MC55110 CP chip pin description........................................................................................ 32

MC55000 Electrical Specification – Preliminary 11/14/2003

vii

Pinouts for the MC55420 ............................................................................................................. 36

5.2

5.2.1 MC55020 IO chip pin description........................................................................................ 37

5.2.2 MC55020 CP chip pin description........................................................................................ 40

5.3 External oscillator filter ................................................................................................................ 43

MC55000 Electrical Specification – Preliminary 11/14/2003

viii

1111 The MC50000 Family

The MC50000 Family

The MC50000 FamilyThe MC50000 Family

MC55020 Series

Number of axes Number of chips

Motor type

Output format

Parallel Asynchronous serial CAN 2.0B

Incremental encoder input

Parallel word device input

Index & Home signals

Position capture Directional limit

switches

PWM output Parallel DAC output SPI DAC output -

Pulse & direction output

Trapezoidal profiling

S-curve profiling Velocity profiling Electronic gearing On-the-fly changes

PID position loop Dual encoder loop Derivative sampling

time Feedforward (accel

& vel) Dual bi-quad filter -

MC55020 Series MC58020 Series

MC55020 SeriesMC55020 Series

4,3,2 or 1 4,3,2 or 1 1 1

2 (CP and IO) 2 (CP and IO) 1 (CP) 1 (CP)

Stepping

Pulse and direction

MC58020 Series MC55110

MC58020 SeriesMC58020 Series

Brushed DC servo

Brushless DC servo

Stepping

Brushed single phase

Sinusoidal

commutation

Microstepping

Pulse and direction

Communication interface

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

Position input

√√√√ √√√√ √√√√ √√√√

Motor command output

√√√√ √√√√ √√√√

Trajectory generation

√√√√ √√√√ √√√√ √√√√

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

Servo filter

√√√√ √√√√

√√√√

MC55110 MC58110

MC55110MC55110

Stepping

Pulse and direction

MC58110

MC58110MC58110

Brushed DC servo

Brushless DC servo

Brushed single phase

Sinusoidal

commutation

Microstepping

Pulse and direction

Stepping

√√√√ √√√√ √√√√

√√√√ √√√√

√√√√

MC55000 Electrical Specification – Preliminary 11/14/2003

MC55020 Series

Data trace/diagnostics

Motion error detection

Axis settled indicator

Analog input Programmable bit

output Software-invertible

signals User-defined I/O External RAM

support Multi-chip

synchronization

Chipset part numbers

Developer's Kit p/n's:

MC55020 Series MC58020 Series

MC55020 SeriesMC55020 Series

√√√√ √√√√ √√√√ √√√√

(with encoder)

√√√√

(with encoder)

√√√√

√√√√ √√√√ √√√√ √√√√

MC55120 MC55220 MC55320 MC55420 DK55420 DK58420 DK55110 DK58110

MC58020 Series MC55110

MC58020 SeriesMC58020 Series

Miscellaneous

√√√√

MC58120 MC58220 MC58320 MC58420

MC55110 MC58110

MC55110MC55110

√√√√ (with encoder)

MC55110 MC58110

MC58110

MC58110MC58110

√√√√

Introduction

This manual describes the operational characteristics of the MC55000 Series Motion Processors from PMD. These devices are members of PMD’s third-generation motion processor family.

Each of these devices is a complete chip-based motion processor. They provide trajectory generation, 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.

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

MC55000 Electrical Specification – Preliminary 11/14/2003

Family Summary

MC55000 Series – These chipsets provide high-speed pulse and direction signals for step motor systems. For the MC55020 series two TQFP ICs are required: a 100-pin Input/Output (IO) chip, and a 144-pin Command Processor (CP) chip, while the MC55110 has all functions integrated into a single chip a 144-pin Command Processor (CP) chip.

MC58000 Series – This series outputs motor commands in Sign/Magnitude PWM or DACcompatible format for use with DC-Brush motors or Brushless DC motors having external commutation; two-phase or three-phase sinusoidally commutated motor signals in PWM or DACcompatible format for brushless servo motors; pulse and direction output for step motors; and two phase signals per axis in either PWM or DAC-compatible signals for microstepping motors.

For the MC58020 series two TQFP ICs are required: a 100-pin Input/Output (IO) chip, and a 144pin Command Processor (CP) chip, while the MC58110 has all functions integrated into a single 144pin CP chip.

1.2 How to Order

When ordering a single-chip configuration, only the CP part number is necessary. For two-IC and multi-axis configurations, both the CP and the IO part numbers are required.

CP (1 or 2 chip configurations)

MC5 0CP .

Motor Type

8 = Multi Motor 5 = Pulse & Direction

# Axes

1,2,3,4

# Chips

1 (CP only) 2 (CP & IO)

CP Version

(Call PMD)

IO (2 chip configurations only)

MC50000IO

Developer’s Kit

DK5 0CP . 50000IO

Motor Type

8 = Multi Motor 5 = Pulse & Direction

# Axes

1,2,3,4

# Chips

1 (CP only) 2 (CP & IO)

CP Version

(Call PMD)

MC55000 Electrical Specification – Preliminary 11/14/2003

2222 Functional Characteristics

Functional Characteristics

Functional CharacteristicsFunctional Characteristics

2.1 Configurations, parameters, and performance

Configuration

ConfigurationConfiguration

Operating modes

Operating modesOperating modes

Communication modes

Communication modesCommunication modes

Serial port baud rate range

Serial port baud rate rangeSerial port baud rate range Profile modes

Profile modes

Profile modesProfile modes

Position range

Position rangePosition range Velocity range

Velocity range

Velocity rangeVelocity range

Acceleration and deceleration

Acceleration and deceleration Acceleration and deceleration ranges

ranges

rangesranges

Jerk rang

Jerk rangeeee

Jerk rangJerk rang

Electronic gear ratio range

Electronic gear ratio rangeElectronic gear ratio range Position error tracking

Position error tracking

Position error trackingPosition error tracking

Motor output modes

Motor output modesMotor output modes Maximum encoder rate

Maximum encoder rate

Maximum encoder rateMaximum encoder rate

Parallel encoder word size

Parallel encoder word sizeParallel encoder word size

4 axes (MC55420) 3 axes (MC55320) 2 axes (MC55220) 1 axis (MC55120 or MC55110) Open loop (pulse generator is driven by trajectory generator output, encoder input used

for stall detection) 8/16 parallel 8 bit external parallel bus with 16 bit command word size 16/16 parallel 16 bit external parallel bus with 16 bit command word size Point to point asynchronous serial Multi-drop asynchronous serial CAN bus 2.0B, protocol co-exists with CANOpen 1,200 baud to 416,667 baud 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

External All commanded profile parameters are generated by the host and stored in external RAM

-2,147,483,648 to +2,147,483,647 steps

-32,768 to +32,767 steps per cycle with a resolution of 1/65,536 steps per cycle 0 to +32,767 steps per cycle2 with a resolution of 1/65,536 steps per cycle 0 to ½ steps per cycle with a resolution of 1/4,294,967,296 steps per cycle 3

-32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction) 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

Step and Direction (4.98 Mpulses/sec maximum) Incremental (up to 10 Mcounts/sec) Parallel-word (up to 160 Mcounts/sec) 16 bits

MC55000 Electrical Specification – Preliminary 11/14/2003

Parallel encoder

Parallel encoder read rate

Parallel encoderParallel encoder

Cycle timing range

Cycle timing rangeCycle timing range Minimum cycle time

Minimum cycle time

Minimum cycle timeMinimum cycle time Limit switches

Limit switches

Limit switchesLimit switches Position

Position----capture triggers

PositionPosition Other digital signals (per axis)

Other digital signals (per axis)

Other digital signals (per axis)Other digital signals (per axis) Software

Software----invertable signals

SoftwareSoftware Analog input

Analog input

Analog inputAnalog input User defin

User defined discrete I/O

User definUser defin RAM/external memory

RAM/external memory

RAM/external memory RAM/external memory support

support

supportsupport Trace modes

Trace modes

Trace modesTrace modes

Maximum number of trace

Maximum number of trace Maximum number of trace variables

variables

variablesvariables Numbe

Number of traceable variables

r of traceable variables

NumbeNumbe

r of traceable variablesr of traceable variables

Number of host instructions

Number of host instructionsNumber of host instructions

read rate

read rate read rate

capture triggers

capture triggerscapture triggers

invertable signals

invertable signalsinvertable signals

ed discrete I/O

ed discrete I/Oed discrete I/O

20 kHz (reads all axes every 50 µsec)

51.2 microseconds to 1.048576 seconds

51.2 microseconds 2 per axis: one for each direction of travel 2 per axis: index and home signals 1 AxisIn signal per axis, 1 AxisOut signal per axis Encoder A, Encoder B, Index, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit 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 one-time continuous 4

19 103

MC55000 Electrical Specification – Preliminary 11/14/2003

+ 30 hidden pages

PMD MC55000 Datasheet

Specifications and Main Features

Frequently Asked Questions

User Manual

The MC50000 Family

Introduction

Family Summary

1.2 How to Order

Functional Characteristics

2.1 Configurations, parameters, and performance