PMD MC73110 Datasheet
MC73110
Advanced 3-Phase Motor Control IC
Developer’s Kit Manual
Performance Motion Devices, Inc.
55 Old Bedford Road
Lincoln, MA 01773
Revision 1.1, 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 Performance Motion Devices, Inc.
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 Performance Motion Devices, Inc.
Copyright 1998, 1999, 2000, 2001, 2002, 2003 by Performance Motion Devices, Inc.
Navigator®, Pro-Motion® and C-Motion® are registered trademarks of Performance Motion Devices, Inc.
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MC73110 Developer’s Kit
Warranty
Performance Motion Devices, Inc. (PMD) warrants performance of its products to the specifications
applicable at the time of sale in accordance with Performance Motion Devices, Inc.’s standard warranty.
Testing and other quality control techniques are utilized to the extent Performance Motion Devices,
Inc. 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. 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 Performance Motion Devices, Inc. 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
Performance Motion Devices, Inc. assumes no liability for applications assistance or customer product
design. Performance Motion Devices, Inc. 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 Performance Motion Devices, Inc. covering or relating to any combination, machine, or process
in which such products or services might be or are used. Performance Motion Devices, Inc.’s publication of information regarding any third party’s products or services does not constitute Performance
Motion Devices, Inc.’s approval, warranty or endorsement thereof.
MC73110 Developer’s Kit
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Related Documents
MC73110 Advanced 3-Phase Motor Control IC Product Manual (MC73110PM)
Electrical Specifications, Theory of Operations, and Command Reference for MC73110 IC.
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MC73110 Developer’s Kit
Table of Contents
1.0 Product Overview .............................................................................. 7
2.0 Installation ......................................................................................... 9
2.1 Software ........................................................................................................................................................ 11
2.2 Documentation .......................................................................................................................................... 11
2.3 Connection Configurations ....................................................................................................................... 12
2.4 Installation Sequence .................................................................................................................................. 13
2.5 Required Hardware ..................................................................................................................................... 13
2.6 Preparing the Card for Installation............................................................................................................ 14
2.7 Connecting to the Card .............................................................................................................................. 15
2.7.1 Initial Setup .............................................................................................................................. 15
2.7.2 Power Connector (J1) .............................................................................................................. 16
2.7.3 Motor Feedback Connector (J2) ............................................................................................. 16
2.7.4 Motor Connector (J4) ............................................................................................................. 17
2.7.5 Host Connector (J6) ................................................................................................................ 17
2.7.6 Serial Port Connector (J7) ....................................................................................................... 18
2.8 Applying Power.......................................................................................................................................... 18
2.8.1 Card Reset ................................................................................................................................. 18
2.8.2 LED Status Indicators ............................................................................................................ 18
2.9 Software Installation ................................................................................................................................... 19
2.10 First Time System Verification................................................................................................................. 19
3.0 Using Pro-Motion ............................................................................ 21
3.1 Communication .......................................................................................................................................... 22
3.1.1 Axis Setup Wizard ................................................................................................................... 23
3.1.1 Step #1: Signal Output Settings ............................................................................................ 24
3.1.2 Step #2: Initialize Signal Sensing ........................................................................................... 24
3.1.3 Step #3: Safety Settings ........................................................................................................... 25
3.1.4 Step #4: Commutation .......................................................................................................... 25
3.1.4.1 Step #4a: Check Commutation .......................................................................................... 26
3.1.5 Step #5: Velocity Integrator Loop Parameters ..................................................................... 26
3.1.6 Step #6: Velocity Loop Parameters ........................................................................................ 26
3.2.6 Step #7: Current Loop Parameters ........................................................................................ 27
3.2.7 Step #8: Miscellaneous Settings ............................................................................................. 27
3.2 Main Window ............................................................................................................................................. 28
3.2.1 Project Window ....................................................................................................................... 28
3.2.2 Command Window ................................................................................................................ 29
4.0 Developing Your Own Applications with C-Motion ......................... 31
4.1 Theory of Use ............................................................................................................................................. 32
5.0 MC73110 Electrical Reference......................................................... 33
5.1 User-Settable Jumper Options .................................................................................................................. 33
5.2 Connecting to the Card .............................................................................................................................. 34
5.2.1 Power Connector (J1) .............................................................................................................. 35
5.2.2 Motor Feedback Connector (J2) ............................................................................................. 36
5.2.3 RS485 Connector (J3) .............................................................................................................. 37
5.2.4 Motor Connector (J4) ............................................................................................................. 37
5.2.5 Remote Switcher Connector (J5) ............................................................................................38
5.2.6 Host Connector (J6) ................................................................................................................ 39
5.2.7 Serial Port Connector (J7) ....................................................................................................... 39
MC73110 Developer’s Kit
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MC73110 Developer’s Kit
1.0 Product Overview
MC73110 Navigator/Pilot Magellan Motion Cards
Motor Control
IC
Number of axes 1 1, 2, 4 1, 2, 3, 4 1, 2, 3, 4
Package 64-pin TQFP 132-pin PQFP 144-pin TQFP PCI
100-pin PQFP 100-pin TQFP PC/104
Voltage 3.3 V 5 V 3.3 V 3 V
Function Velocity control Position control Position control Position control
Torque control Encoder input Encoder input Encoder input
Commutation Profile generation Profile generation Profile generation
Encoder input Commutation Commutation Commutation
Network Signal conditioning
communications Analog output
Multi-motor Trace buffer
Motor types Brushless DC DC servo DC servo DC servo
Brushless DC Brushless DC Brushless DC
Microstepping Microstepping Microstepping
Pulse & direction Pulse & direction Pulse & direction
Communication Standalone Parallel Parallel PCI, PC104
Serial Serial point-to-point Serial point-to-point
Serial multi-drop Serial multi-drop
CANbus
Loop rate 20 kHz 100 -150 Sec/axis 50 -75 Sec/axis 50 -75 Sec/axis
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The MC73110 Motor Control IC is a single-chip, single-axis device ideal for use in intelligent 3-phase brushless
motor amplifiers. It provides sophisticated programmable digital current control with direct analog input of
feedback signals. It can be operated in voltage, torque, or velocity modes and supports standalone operation for
use with PMD’s motion processors, other off-the-shelf servo controllers, or via a serial port.
Navigator/Pilot-family Motion Processors provide programmable chip-based positioning control for brushed
servo, brushless servo, microstepping, and pulse and direction step motors. They are available in 1, 2 and 4-axis,
and in both single-chip and two-IC chipset configurations. These parts operate at 5V.
Magellan-family Motion Processors are state-of-the-art programmable chip-based positioning controllers for
brushed servo, brushless servo, microstepping, and pulse and direction step motors. They are similar to the
Navigator Motion Processors but provide increased capabilities including faster loop rate, CANBus communications, software-selectable motor type, and direct SPI bus output for serial DACs. They are available in 1, 2, 3, and
4-axis, and in both single-chip and two-IC chipset configurations. These parts operate at 3.3V.
PMD’s PCI and PC/104-bus motion cards are high performance general purpose motion cards for controlling
DC-brush, brushless DC, microstepping, and pulse & direction motors. Utilizing PMD’s Magellan Motion
Processors, these products are available in 1, 2, 3, and 4 axis configurations and have advanced features such as 16bit D/A analog output, and on-board high speed performance tracing.
MC73110 Developer’s Kit Manual
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1
PMD Product Overview
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MC73110 Developer’s Kit Manual
2.0 Installation
In This Section
Software
Documentation
Connection Configurations
Installation Sequence
Required Hardware
Preparing the Card for Installation
Connecting to the Card
Applying Power
Software Installation
First Time System Verification
The PMD MC73110 Developer’s Kit is an integrated board/software package that serves as an electrical and
software design tool for MC73110-based systems. The major components of the kit are:
Standalone MC73110-based card with 10 amp 3-phase brushless motor amplifier
Serial cable to communicate with PC
CD-ROM containing C-Motion and Pro-Motion software programs
MC73110 Product Manual
MC73110 Developer’s Kit Manual
2
The Developer’s Kit is a self-standing card supported by aluminum standoff 4.093" x 6.800" in size. The PCB
board is FR-4 four-layer with 2 oz. copper. The thickness is 62 mil. It accepts a single power connection of 18V to
48V, from which the card itself derives all other needed voltages using an on-board DC to DC converter device.
During initial setup and operation, a serial cable connects the card to a PC, which runs PMD’s Pro-Motion exerciser
program. The serial port can be operated in point-to-point mode, or multi-drop mode. The card can also be
operated standalone, without serial port connection. In this mode the card receives a command from an external
motion controller via analog or digital hardware signals. When operated in standalone mode, MC73110 parameters are loaded into the MC73110 at power up via an on-board serial EEPROM which is installed in an 8-pin DIP
socket located on the Developer’s Kit card.
The card drives a 3-phase brushless DC motor at up to 10 amps continuous current, 15 amps peak. A wide range
of motor inductances are supported. An on-card temperature sensor can be used to alert the user of an overtemperature condition on the amplifier.
MC73110 Developer’s Kit Manual
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2
Installation
The following diagram provides a summary of the functions of the MC73110 Developer Kit card.
The Developer’s Kit can be used for a number of purposes. It is useful as a:
‘Ready to go’ system that exercises the MC73110
Reference design for an MC73110-based amplifier/drive
Pre-production system with which the user’s application can be developed,
and motors can be tested
Test system from which various switching power block sections can be tested
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MC73110 Developer’s Kit Manual
2.1 Software
Two major software packages are provided with the MC73110 Developer's Kit cards: Pro-Motion, an interactive
Windows-based exerciser program and C-Motion, a C-language library which simplifies the development of
motion applications for MC73110 Developer's Kit cards.
Pro-Motion is a sophisticated, easy to use exerciser program that allows you to set and view all card parameters,
and exercise all card features. Pro-Motion features include:
Project window for accessing card parameters
Ability to save and load current settings
Motor-specific parameter setup
Command window for direct text command entry.
Communications monitor that echoes all commands sent by Pro-Motion to the card.
C-Motion provides a convenient set of callable routines that comprise all of the code required for controlling your
MC73110 Developer's Kit card. C-Motion includes the following features:
Axis virtualization
The ability to communicate to multiple MC73110 Developer’s Kit cards
Can be easily linked to any “C/C++” application
Installation
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Pro-Motion is described in section 3, Using Pro-Motion, page 21, C-Motion is described in detail in section 4, Developing
Your Own Applications with C-Motion, page 31.
2.2 Documentation
There are two manuals specifically associated with the MC73110 card. A brief description of each is listed below.
Component Name Description
part number
MC73110PM MC73110 This is the complete description of the MC73110 IC.
Product Manual It includes electrical specifications, theory of operations,
DK73110M MC73110 This document guides you through installation and operation
Developer’s Kit Manual of the MC73110 Developer’s Kit. It describes the Developer’s
To download these documents, or request that they be sent to you, visit the PMD website at www.pmdcorp.com
or contact your PMD representative.
and a programmer’s command reference.
Kit card and software, and provides complete schematics
for the card.
MC73110 Developer’s Kit Manual
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2
Internal
switcher
configuration
Installation
2.3 Connection Configurations
There are two major connection configurations of the MC73110 Developer’s Kit. The first is ‘internal switcher’,
and the second is ‘remote switcher’.
Internal switcher means that the Developer’s Kit uses its internal 10 Amp continuous (15 amp peak) on-board
MOSFET switchers and current sense circuitry to form a complete standalone intelligent amplifier card. This is the
normal operating state of the system, and the most convenient to use when initially working with the MC73110
Developer’s Kit.
Remote switcher means that an external switching triple half-bridge and associated current sense and conditioning
circuitry is installed. Section 5, Electrical Reference, page 33, provides complete details on the signals that are required
to connect to an external amplifier. This configuration is useful for prototyping with a custom-designed amplifier
for the purpose of verifying your own amplifier design, or driving motors with a larger current capacity than 10
Amps continuous.
The diagrams below illustrate these two configurations.
Remote
switcher
configuration
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MC73110 Developer’s Kit Manual
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