PMD MC58000 Datasheet
Magellan™ Motion Processor
MC58000
Electrical Specification
for Brushed Servo, Brushless Servo,
Microstepping and Stepping Motion Control
Preliminary
Performance Motion Devices, Inc.
55 Old Bedford Rd
Lincoln, MA 01773
Revision 0.6, November 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 2003 by Performance Motion Devices, Inc.
Magellan 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.
MC58000 Electrical Specification – Preliminary 11/13/2003
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MC58000 Electrical Specification – Preliminary 11/13/2003
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Related 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.
MC58000 Electrical Specification – Preliminary 11/13/2003
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MC58000 Electrical Specification – Preliminary 11/13/2003
vi
Table 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....................................................................... 15
2.2.1 CP chip ................................................................................................................................. 15
2.2.2 IO chip.................................................................................................................................. 16
2.3 Environmental and electrical ratings............................................................................................17
2.4 MC58110 System configuration – Single chip, 1 axis control ..................................................... 17
2.5 MC58020 System configuration – Two chip, 1 to 4 axis control................................................. 18
2.6 Peripheral device address mapping...............................................................................................19
3 Electrical Characteristics........................................................................................................................ 20
3.1 DC characteristics......................................................................................................................... 20
3.2 AC characteristics......................................................................................................................... 20
4 I/O Timing Diagrams.............................................................................................................................. 23
4.1 Clock ............................................................................................................................................ 23
4.2 Quadrature encoder input............................................................................................................. 23
4.3 Reset............................................................................................................................................. 23
4.4 Host interface, 8/16 mode............................................................................................................. 24
4.4.1 Instruction write, 8/16 mode................................................................................................. 24
4.4.2 Data write, 8/16 mode...........................................................................................................24
4.4.3 Data read, 8/16 mode............................................................................................................25
4.4.4 Status read, 8/16 mode..........................................................................................................25
4.5 Host interface, 16/16 mode........................................................................................................... 26
4.5.1 Instruction write, 16/16 mode............................................................................................... 26
4.5.2 Data write, 16/16 mode......................................................................................................... 26
4.5.3 Data read, 16/16 mode.......................................................................................................... 27
4.5.4 Status read, 16/16 mode........................................................................................................ 27
4.6 External memory timing............................................................................................................... 28
4.6.1 External memory read........................................................................................................... 28
4.6.2 External memory write......................................................................................................... 29
4.7 Peripheral device timing............................................................................................................... 30
4.7.1 Peripheral device read........................................................................................................... 30
4.7.2 Peripheral device write.........................................................................................................31
5 Pinouts and Pin Descriptions.................................................................................................................. 32
5.1 Pinouts for the MC58110 ............................................................................................................. 32
5.1.1 MC58110 CP chip pin description........................................................................................ 33
MC58000 Electrical Specification – Preliminary 11/13/2003
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5.1.2
MC58110 CP chip pin assignment for multiple motor types................................................ 37
5.2 Pinouts for the MC58420 ............................................................................................................. 38
5.2.1 MC58020 IO chip pin description........................................................................................ 39
5.2.2 MC58020 IO chip pin assignment for multiple motor types................................................ 44
5.2.3 MC58020 CP chip pin description........................................................................................ 46
5.3 External oscillator filter................................................................................................................ 50
MC58000 Electrical Specification – Preliminary 11/13/2003
viii
1 The MC50000 Family
Number of axes
Number of chips
Motor type
Output format
MC55020 Series MC58020 Series MC55110 MC58110
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
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 -
Brushed DC servo
Brushless DC servo
Stepping
Brushed single phase
Sinusoidal
commutation
Microstepping
Pulse and direction
Stepping
Pulse and direction
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
√
√
-
-
√
√
√
-
-
-
-
-
√
√
√
√
√
MC58000 Electrical Specification – Preliminary 11/13/2003
9
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 MC55110 MC58110
Miscellaneous
√ √ √ √
(with encoder)
√
(with encoder)
√
√ √ √ √
√ √ √ √
√ √ √ √
√ √ √ √
√ √ √ √
√ √ √ √
MC55120
MC55220
MC55320
MC55420
DK55420 DK58420 DK55110 DK58110
√
√
MC58120
MC58220
MC58320
MC58420
√ (with encoder)
√ (with encoder)
MC55110 MC58110
√
√
Introduction
This manual describes the operational characteristics of the MC58000 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 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 series may be re-used with another, even though the type of motor may be
different.
MC58000 Electrical Specification – Preliminary 11/13/2003
10
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)
MC58000 Electrical Specification – Preliminary 11/13/2003
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2 Functional Characteristics
2.1 Configurations, parameters, and performance
Configuration
Operating modes
Communication modes
Serial port baud rate range
Profile modes
Position range
Velocity range
Acceleration and
deceleration ranges
Jerk range
Electronic gear ratio range
4 axes (MC58420)
3 axes (MC58320)
2 axes (MC58220)
1 axis (MC58120 or MC58110)
Servo
Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
Microstepper
Open loop (motor command is driven from output of trajectory generator & microstep
generator, encoder input used for stall detection)
Stepper
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 counts|steps
-32,768 to +32,767 counts|steps per cycle
with a resolution of 1/65,536 counts|steps per cycle
2
0 to +32,767 counts|steps per cycle
with a resolution of 1/65,536 counts|steps per cycle
0 to ½ counts|steps per cycle
with a resolution of 1/4,294,967,296 counts|steps per cycle 3
-32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction)
2
3
MC58000 Electrical Specification – Preliminary 11/13/2003
12
Filter modes
Filter parameter resolution
Position error
Position error tracking
Motor output modes
Commutation rate
Microstepping waveform
Microsteps per full step
Maximum encoder rate
Parallel encoder word size
Parallel encoder read rate
Hall sensor inputs
Cycle/servo loop timing
range
Minimum cycle/servo loop
time
Multi-chip synchronization
Limit switches
Position-capture triggers
Other digital signals (per
axis)
Software-invertable
signals
Analog input
User defined discrete I/O
RAM/external memory
support
Trace modes
Maximum number of trace
variables
Number of traceable
variables
Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also includes
integration limit, settable derivative sampling time, output motor command limiting and
two bi-quad filters
Dual encoder feedback mode where auxiliary encoder is used for backlash
compensation
16 bits
32 bits
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
PWM (10-bit resolution at 20 kHz or 8-bit resolution at 80 kHz)
Parallel DAC-compatible (16 bits)
SPI DAC-compatible (16 bits)
Step and Direction (4.98 Mpulses/sec maximum)
10kHz
Sinusoidal
Programmable, 1 to 256
Incremental (up to 10 Mcounts/sec)
Parallel-word (up to 160 Mcounts/sec)
16 bits
20 kHz (reads all axes every 50 µsec)
3 Hall effect inputs per axis (TTL level signals)
51.2 microseconds to 1.048576 seconds
51.2 microseconds
<10µsec difference between master and slave servo cycle
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,
HallA, HallB, HallC (all individually programmable per axis)
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
27
MC58000 Electrical Specification – Preliminary 11/13/2003
13
Number of host
instructions
154
MC58000 Electrical Specification – Preliminary 11/13/2003
14
2.2 Physical characteristics and mounting dimensions
2.2.1 CP chip
All dimensions are in millimeters.
MC58000 Electrical Specification – Preliminary 11/13/2003
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