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NavigatorTM Motion Processor
MC2500 Series Technical Specifications
for Stepping Motion Control
Performance Motion Devices, Inc. 55 Old Bedford Road Lincoln, MA 01773
Revision 1.9, February 2004
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
MC2500 Technical Specifications ii
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.
MC2500 Technical Specifications iii
MC2500 Technical Specifications iv
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); 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.
MC2500 Technical Specifications v
MC2500 Technical Specifications vi
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
MC2500 Technical Specifications vii
5 Pinouts and Pin Descriptions.................................................................................................................. 27 5.1 Pinouts for MC2540 ..................................................................................................................... 27 5.2 Pinouts for MC2520 ..................................................................................................................... 28 5.3 Pinouts for MC2510 ..................................................................................................................... 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 ........................................................................................................................... 49
MC2500 Technical Specifications viii
1 The Navigator Family
MC2100 Series
# of axes Motor type supported
4, 2, or 1 Brushed servo
MC2300 Series
4, 2 or 1 Brushless servo Commutated (6-step or sinusoidal)
MC2400 Series
4, 2 or 1 Stepping
MC2500 Series
4, 2, or 1 Stepping
MC2800 Series
4 or 2 Brushed servo + brushless servo Brushed servo (single phase) + commutated (6-step or sinusoidal)
Output format 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 Axis settled indicator DAC-compatible output Pulse & direction output Index & Home signals Position capture Analog input User-defined I/O External RAM support
Brushed servo (single phase)
Microstepping
Pulse and direction
-
-
(with encoder) (with encoder)
(with encoder) (with encoder)
-
Chipset part numbers
Developer's Kit p/n
MC2140 (4 axes) MC2120 (2 axes) MC2110 (1 axis) DK2100
MC2340 (4 axes) MC2320 (2 axes) MC2310 (1 axis) DK2300
MC2440 (4 axes) MC2420 (2 axes) MC2410 (1 axis) DK2400
MC2540 (4 axes) MC2520 (2 axes) MC2510 (1 axis) DK2500
MC2840 (4 axes) MC2820 (2 axes) DK2800
MC2500 Technical Specifications 9
Introduction
This manual describes the operational characteristics of the MC2540, MC2520 and MC2510 Motion Processors from PMD. These devices are members of PMD's second-generation motion processor family, which consists of 14 separate products organized into 5 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. 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.
MC2500 Technical Specifications 10
2 Functional Characteristics
2.1 Configurations, parameters, and performance
Available configurations Operating modes 4 axes (MC2540), 2 axes (MC2520), or 1 axis (MC2510) 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) 8/8 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 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/sample2 with a resolution of 1/65,536 counts/sample2 0 to 1/2 counts/sample3, with a resolution of 1/4,294,967,296 counts/sample3 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) -32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction) 4.98 M-pulses/sec Incremental (up to 5 Mcounts/sec) Parallel-word (up to 160 Mcounts/sec) 16 bits 20 kHz (reads all axes every 50 sec) 102.4 sec to 32.767 milliseconds 102.4 sec per enabled axis 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, Pulse, Direction (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 20 112 MC2500 Technical Specifications 11
Communication modes
Serial port baud rate range Position range Velocity range Acceleration/deceleration ranges Jerk range Profile modes
Electronic gear ratio range Maximum pulse rate Maximum encoder rate Parallel encoder word size Parallel encoder read rate Cycle rate timing range Minimum cycle time 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 Max. number of trace variables Number of traceable variables Number of host instructions
2.2
2.2.1
Physical characteristics and mounting dimensions
CP chip
All dimensions are in inches (with millimeters in brackets).
Dimension
D D1 D2 D3
Minimum (inches)
1.070 0.934 1.088
Maximum (inches)
Minimum (mm)
27.178 23.723 27.635
Maximum (mm)
1.090 0.966 1.112 0.800 nominal
27.686 24.536 28.244 20.32 nominal
MC2500 Technical Specifications 12
2.2.2
I/O chip
All dimensions are in millimeters.
Dimension
A A1 A2 b c D D1 E E1 e L ccc theta
Minimum (mm)
0.25 2.55 0.22 0.13 22.95 19.90 16.95 13.90 0.73 0
Nominal (mm)
0.33 2.80
Maximum (mm)
3.40 3.05 0.38 0.23 23.45 20.10 17.45 14.01 1.03 0.10 7
Minimum (inches)
0.0098425 0.1003937 0.0086614 0.0051181 0.9035433 0.7834646 0.6673228 0.5472441 0.0287402 0
Nominal (inches)
0.0129921 0.1102362
Maximum (inches)
0.1338583 0.1200787 0.0149606 0.0090551 0.9232283 0.7913386 0.6870079 0.5515748
23.20 20.00 17.20 14.00 0.65 BSC 0.88
0.9133858 0.7874016 0.6771654 0.5511811 0.0255906 BSC 0.0346457 0.0405512 0.0039370 0.2755906
MC2500 Technical Specifications 13
2.3
Environmental and electrical ratings
All ratings and ranges are for both the I/O and CP chips. Storage Temperature (Ts) Operating Temperature (Ta) Power Dissipation (Pd) Nominal Clock Frequency (Fclk) Supply Voltage Limits (Vcc) Supply Voltage Operating Range (Vcc) -55 C to 150 C 0 C to 70 C* 600 mW (I/O and CP combined) 40.0 MHz -0.3V to +7.0V 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 MC2500 system.
Host
Serial-port host
HostIntrpt
HostData0-15 ~HostWrite ~HostRead ~HostSlct HostRdy HostCmd
Parallel port
Serial port (alternatives)
System clock (40 MHz)
Navigator Motion Processor
Navigator Motion Processor
20MHz clock
I/O
CP
Pulse and Direction
Negative
AxisOut
Positive
AtRest
16-bit data bus
Encoder
Limit switches
Motor amplifier Serial port configuration
External memory
User I/O Parallel word input
Other user devices
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.
MC2500 Technical Specifications 14
Analog inputs
Home
AxisIn
Index
A
B
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 0200h 0800h 1000h 2000h 4000h 8000h Device Serial port data Parallel-word encoder User-defined RAM page pointer Reserved I/O chip Description Contains the configuration data (transmission rate, parity, stop bits, etc) for the asynchronous serial port Base address for parallel-word feedback devices Base address for user-defined I/O devices Page pointer to external memory Reserved for future use Base address for I/O chip communications
MC2500 Technical Specifications 15
3 Electrical Characteristics
3.1 DC characteristics
(Vcc and Ta per operating ratings, Fclk = 40.0 MHz)
Symbol Vcc Idd Vih Vil Vihreset Voh Vol Parameter Supply Voltage Supply Current Minimum 4.75 V Maximum 5.25 V 120 mA Vcc + 0.3 V 0.8 V Vcc + 0.3 V @CP Io = -23 mA @I/O Io = -6 mA @CP Io = 6 mA @I/O Io = 6 mA @CP 0 < Vout < Vcc @CP @I/O 0 < Vi < Vcc @CP typical @I/O Conditions open outputs
Input Voltages Logic 1 input voltage 2.0 V Logic 0 input voltage -0.3 V Logic 1 voltage for reset pin (reset) 2.2 V Logic 1 Output Voltage Logic 0 Output Voltage Other -5 A -10 A -10 A 15 pF Output Voltages 2.4 V
0.33 V
Iout Iin
Tri-State output leakage current Input current
5A 10 A -10 A 10 pF
Cio
Input/Output capacitance
Zai Ednl
Einl
Analog Input Analog input source impedance Differential nonlinearity error. -1 Difference between the step width and the ideal value. Integral nonlinearity error. Maximum deviation from the best straight line through the ADC transfer characteristics, excluding the quantization error.
9k 1.5 LSB
+/-1.5 LSB
3.2
AC characteristics
See timing diagrams, section 4, for Tn numbers. The symbol "~" indicates active low signal.
Timing Interval Clock Frequency (Fclk) Clock Pulse Width Clock Period (note 3) Encoder Pulse Width Dwell Time Per State Index Setup and Hold (relative to Quad A and Quad B low) Tn T1 T2 T3 T4 T5 Minimum > 0 MHz 10 nsec 25 nsec 150 nsec 75 nsec 0 nsec Maximum 40 MHz (note 1)
MC2500 Technical Specifications 16
Timing Interval ~HostSlct Hold Time ~HostSlct Setup Time HostCmd Setup Time HostCmd Hold Time Read Data Access Time Read Data Hold Time ~HostRead High to HI-Z Time HostRdy Delay Time ~HostWrite Pulse Width Write Data Delay Time Write Data Hold Time Read Recovery Time (note 2) Write Recovery Time (note 2) Read Pulse Width Address Setup Delay Time Data Access Time Data Hold Time Address Setup Delay Time Address Setup to WriteEnable High RAMSlct Low to WriteEnable High Address Hold Time WriteEnable Pulse Width Data Setup Time Data Setup before Write High Time Address Setup Delay Time Data Access Time Data Hold Time Address Setup Delay Time Address Setup to WriteEnable High PeriphSlct Low to WriteEnable High Address Hold Time WriteEnable Pulse Width Data Setup Time Data Setup before Write High Time Read to Write Delay Time Reset Low Pulse Width RAMSlct Low to Strobe Low Strobe High to RAMSlct High WriteEnable Low to Strobe Low Strobe High to WriteEnable High PeriphSlct Low to Strobe Low Strobe High to PeriphSlct High Device Ready/ Outputs Initialized
Tn T6 T7 T8 T9 T10 T11 T12 T13 T14 T15 T16 T17 T18 T19 T20 T21 T22 T23 T24 T25 T26 T27 T28 T29 T30 T31 T32 T33 T34 T35 T36 T37 T38 T39 T40 T50 T51 T52 T53 T54 T55 T56 T57
Minimum 0 nsec 0 nsec 0 nsec 0 nsec
Maximum
100 nsec 70 nsec 0 nsec 60 nsec 60 nsec 70 nsec
25 nsec 10 nsec 20 nsec 150 nsec 15 nsec
7 nsec 19 nsec 2 nsec 7 nsec 72 nsec 79 nsec 17 nsec 39 nsec 3 nsec 42 nsec 7 nsec 71 nsec 2 nsec 7 nsec 122 nsec 129 nsec 17 nsec 89 nsec 3 nsec 92 nsec 50 nsec 5.0 sec 1 nsec 4 nsec 1 nsec 3 nsec 1 nsec 4 nsec 1 msec
Note 1 Performance figures and timing information valid at Fclk = 40.0 MHz only. For timing information and performance parameters at Fclk < 40.0 MHz refer to section 6.1. Note 2 For 8/8 and 8/16 interface modes only. Note 3 The clock low/high split has an allowable range of 45-55%.
MC2500 Technical Specifications 17
4 I/O Timing Diagrams
For the values of Tn, please refer to the table in Section 0.
4.1
Clock
MasterClkIn
T1 T1 T2
4.2
Quadrature encoder input
T3 T3
Quad A
T4 T4
Quad B
T5 T5
~Index
Index (= ~QuadA * ~QuadB * ~Index)
4.3
Reset
Vcc I/OClk
~RESET
T50 T57
MC2500 Technical Specifications 18
4.4
4.4.1
Host interface, 8/8 mode
Instruction write, 8/8 mode
T7 T6
~HostSlct HostCmd
T8 T14 T9
~HostWrite
T16
HostData0-7
HostRdy
T15 T13
4.4.2
Data write, 8/8 mode
T7 T6 see note
~HostSlct
T8
T9 see note
HostCmd
T14 T18
T14
~HostWrite
T16 T16 Low byte
HostData0-7
High byte
HostRdy
T15
T15 T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
MC2500 Technical Specifications 19
4.4.3
Data read, 8/8 mode
T7
~HostSlct
T8
see note
T6
HostCmd
T17
see note
T9
~HostRead
T19 T12 High-Z High byte T10 T11 High-Z High-Z
Low byte
HostData0-7
HostRdy
T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
4.4.4
Status read, 8/8 mode
T7 T6
~HostSlct
HostCmd
T8 T14
T9
~HostRead
T12
HostData0-7
High-Z
High-Z
T10
T11
MC2500 Technical Specifications 20
4.5
4.5.1
Host interface, 8/16 mode
Instruction write, 8/16 mode
T7 see note T6
~HostSlct
T8 T9
HostCmd
T14 T18
see note T14
~HostWrite
T16 T16 Low byte
HostData0-7
High byte
HostRdy
T15
T15 T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
4.5.2
Data write, 8/16 mode
~HostSlct
T7 see note T6
HostCmd
T8 see note
T9
T14
T18
T14
~HostWrite
T16
T16 Low byte
HostData0-7 HostRdy
High byte
T15
T15 T13
Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
MC2500 Technical Specifications 21
4.5.3
Data read, 8/16 mode
T7 T6 see note
~HostSlct
HostCmd
T8
T9 see note
~HostRead
T19 T12 High-Z High byte T10 T11 High-Z High-Z
HostData0-7
Low byte
HostRdy
T13 Note: If setup and hold times are met, ~HostSlct and HostCmd may be de-asserted at this point.
4.5.4
Status read, 8/16 mode
~HostSlct
T7 T6
HostCmd ~HostRead
T8 T17 T19
T9
T12
HostData0-7
High-Z
High byte T10 T11
High-Z
Low byte
High-Z
MC2500 Technical Specifications 22
4.6
4.6.1
Host interface, 16/16 mode
Instruction write, 16/16 mode
~HostSlct
T7 T6
HostCmd
T8 T14 T9
~HostWrite
T16
HostData0-15
HostRdy
T15 T13
4.6.2
Data write, 16/16 mode
T7 T6
~HostSlct
T8 T9
HostCmd
T14
~HostWrite
T16
HostData0-15
HostRdy
T15 T13
MC2500 Technical Specifications 23
4.6.3
Data read, 16/16 mode
~HostSlct
T7 T6
HostCmd
T8
T9
~HostRead
T14
T12
HostData0-15
High-Z
High-Z
T10
T11
HostRdy
T13
4.6.4
Status read, 16/16 mode
T7 T6
~HostSlct
HostCmd
T8 T14 T9
~HostRead
T12
HostData0-15
High-Z
High-Z
T10
T11
MC2500 Technical Specifications 24
4.7
4.7.1
External memory timing
External memory read
Note: PMD recommends using memory with an access time no greater than 15 nsec.
T20 T40
~RAMSlct
Addr0-Addr15
W/~R ~WriteEnbl Data0-Data15
T51 T52
T21
~Strobe
4.7.2
External memory write
~RAMSlct
T23 T24
Addr0-Addr15
T25 T26
R/~W
W/~R
T29
~WriteEnbl
T28 T27 T27
Data0-Data15
T53 T54
~Strobe
MC2500 Technical Specifications 25
4.8
4.8.1
Peripheral device timing
Peripheral device read
T30 T40
~PeriphSlct
Addr0-Addr15
T31
W/~R ~WriteEnbl Data0-Data15
T55 T32
T31
T56
~Strobe
4.8.2
Peripheral device write
~PeriphSlct
T33 T34
Addr0-Addr15
T35 T36
R/~W
W/~R
T39
~WriteEnbl
T38 T37 T37
Data0-Data15
T53 T54
~Strobe
MC2500 Technical Specifications 26
5 Pinouts and Pin Descriptions
5.1 Pinouts for MC2540
16, 17, 40, 65, 66, 67, 90 81 8 92 100 94 77 53 54 52 41 43 50 89 24 5 91 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 HostCmd ~HostRdy ~HostRead ~HostWrite ~HostSlct CPIntrpt CPR/~W CPStrobe CPPeriphSlct CPAddr0 CPAddr1 CPAddr15 MasterClkIn CPClk HostMode0 HostMode1 HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 VCC CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 Pulse1 Pulse2 Pulse3 Pulse4 Direction1 Direction2 Direction3 Direction4 AtRest1 AtRest2 AtRest3 AtRest4 QuadA1 QuadB1 ~Index1 ~Home1 QuadA2 QuadB2 ~Index2 ~Home2 QuadA3 QuadB3 ~Index3 ~Home3 QuadA4 QuadB4 ~Index4 ~Home4 37 42 39 18 14 71 13 70 15 69 68 21 85 20 79 61 60 59 26 23 86 63 80 47 25 49 82 48 44 93 29 33 51 83 88 30 58 28 45 1 4 6 130 129 41 132 43 44 99 98 53 58 110 111 112 114 115 116 117 118 119 122 123 124 125 126 127 128 9 10 11 12 15 16 17 18 19 22 23 24 25 26 27 28 2, 7, 13, 21, 35, 36, 40, 47, 50, 52, 60, 62, 93, 103, 121 ~WriteEnbl R/~W ~Strobe ~PeriphSlct ~RAMSlct ~Reset W/~R SrlRcv SrlXmt SrlEnable ~HostIntrpt I/OIntrpt I/OClk Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 VCC AnalogVcc AnalogRefHigh AnalogRefLow AnalogGnd Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 Analog8 PosLim1 PosLim2 PosLim3 PosLim4 NegLim1 NegLim2 NegLim3 NegLim4 AxisOut1 AxisOut2 AxisOut3 AxisOut4 AxisIn1 AxisIn2 AxisIn3 AxisIn4 84 85 86 87 74 89 75 88 76 83 77 82 63 65 54 49 64 66 55 51 94 95 96 97 72 100 106 67
I/O
CP
GND
4, 9, 22, 34, 46, 57, 64, 72, 84, 96 Unassigned 19, 27, 55, 56, 62, 78, 87
GND
3, 8, 14, 20, 29, 37, 46, 56, 59, 61, 71, 92, 104, 113, 120 Unassigned 5, 30-34, 38, 39, 42, 45, 48, 57, 68-70, 73, 78-81, 90, 91, 101, 102, 105, 107-109, 131
MC2500 Technical Specifications 27
5.2
Pinouts for MC2520
16, 17, 40, 65, 66, 67, 90 81 8 92 100 94 77 53 54 52 41 43 50 89 24 5 91 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 HostCmd ~HostRdy ~HostRead ~HostWrite ~HostSlct CPIntrpt CPR/~W CPStrobe CPPeriphSlct CPAddr0 CPAddr1 CPAddr15 MasterClkIn CPClk HostMode0 HostMode1 HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 VCC CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 Pulse1 Pulse2 Direction1 Direction2 AtRest1 AtRest2 QuadA1 QuadB1 ~Index1 ~Home1 QuadA2 QuadB2 ~Index2 ~Home2 37 42 39 18 14 71 13 70 15 69 68 21 85 61 60 23 86 47 25 49 82 48 44 93 29 1 4 6 130 129 41 132 43 44 99 98 53 58 110 111 112 114 115 116 117 118 119 122 123 124 125 126 127 128 9 10 11 12 15 16 17 18 19 22 23 24 25 26 27 28 2, 7, 13, 21, 35, 36, 40, 47, 50, 52, 60, 62, 93, 103, 121 ~WriteEnbl R/~W ~Strobe ~PeriphSlct ~RAMSlct ~Reset W/~R SrlRcv SrlXmt SrlEnable ~HostIntrpt I/OIntrpt I/OClk Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 VCC AnalogVcc AnalogRefHigh AnalogRefLow AnalogGnd Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 Analog8 PosLim1 PosLim2 NegLim1 NegLim2 AxisOut1 AxisOut2 AxisIn1 AxisIn2 84 85 86 87 74 89 75 88 76 83 77 82 63 65 64 66 94 95 72 100
I/O
CP
GND
4, 9, 22, 34, 46, 57, 64, 72, 84, 96 Unassigned 19, 20, 26, 27, 30, 33, 45, 51, 55, 56, 58, 59, 62, 63, 78, 79, 80, 83, 87, 88
GND
3, 8, 14, 20, 29, 37, 46, 56, 59, 61, 71, 92, 104, 113, 120 Unassigned 5, 30-34, 38, 39, 42, 45, 48, 49, 51, 54, 55, 57, 67-70, 73, 78-81, 90, 91, 96, 97, 101, 102, 105, 106-109, 131
MC2500 Technical Specifications 28
5.3
Pinouts for MC2510
16, 17, 40, 65, 66, 67, 90 81 8 92 100 94 77 53 54 52 41 43 50 89 24 5 91 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 HostCmd ~HostRdy ~HostRead ~HostWrite ~HostSlct CPIntrpt CPR/~W CPStrobe CPPeriphSlct CPAddr0 CPAddr1 CPAddr15 MasterClkIn CPClk HostMode0 HostMode1 HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 VCC CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 Pulse1 Direction1 AtRest1 QuadA1 QuadB1 ~Index1 ~Home1 37 42 39 18 14 71 13 70 15 69 68 21 61 23 47 25 49 82 1 4 6 130 129 41 132 43 44 99 98 53 58 110 111 112 114 115 116 117 118 119 122 123 124 125 126 127 128 9 10 11 12 15 16 17 18 19 22 23 24 25 26 27 28 2, 7, 13, 21, 35, 36, 40, 47, 50, 52, 60, 62, 93, 103, 121 ~WriteEnbl R/~W ~Strobe ~PeriphSlct ~RAMSlct ~Reset W/~R SrlRcv SrlXmt SrlEnable ~HostIntrpt I/OIntrpt I/OClk Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 VCC AnalogVcc AnalogRefHigh AnalogRefLow AnalogGnd Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 Analog8 PosLim1 NegLim1 AxisOut1 AxisIn1 84 85 86 87 74 89 75 88 76 83 77 82 63 64 94 72
I/O
CP
GND
4, 9, 22, 34, 46, 57, 64, 72, 84, 96 Unassigned 19, 20, 26, 27, 29, 30, 33, 44, 45, 48, 51, 55, 56, 58-60, 62, 63, 78, 79, 80, 83, 85-87, 88, 93
GND
3, 8, 14, 20, 29, 37, 46, 56, 59, 61, 71, 92, 104, 113, 120 Unassigned 5, 30-34, 38, 39, 42, 45, 48, 49, 51, 54, 55, 57, 65-70, 73, 78-81, 90, 91, 95-97, 100-102, 105, 106-109, 131
MC2500 Technical Specifications 29
5.4
5.4.1
Pin description tables
I/O chip I/O Chip
Pin Name and Number
HostCmd 81
Direction
Input Output
Description
This signal is asserted high to write a host instruction to the Motion Processor, or to read the status of the HostRdy and HostIntrpt signals. It is asserted low to read or write a data word. This signal is used to synchronize communication between the Motion Processor and the host. HostRdy will go low (indicating host port busy) at the end of a read or write operation according to the interface mode in use, as follows: Interface Mode HostRdy goes low 8/8 after the instruction byte is transferred after the second byte of each data word is transferred 8/16 after the second byte of the instruction word after the second byte of each data word is transferred 16/16 after the 16-bit instruction word after each 16-bit data word serial n/a HostRdy will go high, indicating that the host port is ready to transmit, when the last transmission has been processed. All host port communications must be made with HostRdy high (ready). A typical busy-to-ready cycle is 12.5 microseconds. When ~HostRead is low, a data word is read from the Motion Processor. When ~HostWrite is low, a data word is written to the Motion Processor. When ~HostSlct is low, the host port is selected for reading or writing operations. I/O chip to CP chip interrupt. This signal sends an interrupt to the CP chip whenever a host-chipset transmission occurs. It should be connected to CP chip pin 53, I/OIntrpt. This signal is high when the I/O chip is reading data from the I/O chip, and low when it is writing data. It should be connected to CP chip pin 4,
R/W.
HostRdy
8
~HostRead ~HostWrite ~HostSlct CPIntrpt
92 100 94 77
Input Input Input Output Input Input
CPR/~W
53
CPStrobe
54
CPPeriphSlct CPAddr0 CPAddr1 CPAddr15 MasterClkIn CPClk
52 41 43 50 89 24
Input Input
Input Output
This signal goes low when the data and address become valid during Motion Processor communication with peripheral devices on the data bus, such as external memory or a DAC. It should be connected to CP chip pin 6, Strobe. This signal goes low when a peripheral device on the data bus is being addressed. It should be connected to CP chip pin 130, PeriphSlct. These signals are high when the CP chip is communicating with the I/O chip (as distinguished from any other device on the data bus). They should be connected to CP chip pins 110 (Addr0), 111 (Addr1), and 128 (Addr15). This is the master clock signal for the Motion Processor. It is driven at a nominal 40 MHz This signal provides the clock pulse for the CP chip. Its frequency is half that of MasterClkIn (pin 89), or 20 MHz nominal. It is connected directly to the CP chip I/Oclk signal (pin 58).
MC2500 Technical Specifications 30
I/O Chip
Pin Name and Number
HostMode1 HostMode0 91 5
Direction
Input
Description
These two signals determine the host communications mode, as follows:
HostMode1 HostMode0
0 0 1 1
HostData0 HostData1 HostData2 HostData3 HostData4 HostData5 HostData6 HostData7 HostData8 HostData9 HostData10 HostData11 HostData12 HostData13 HostData14 HostData15 CPData0 CPData1 CPData2 CPData3 CPData4 CPData5 CPData6 CPData7 CPData8 CPData9 CPData10 CPData11 CPData12 CPData13 CPData14 CPData15 Pulse1 Pulse2 Pulse3 Pulse4 12 10 99 98 1 11 97 95 76 74 73 75 2 3 7 6 38 36 35 32 31 37 42 39 18 14 71 13 70 15 69 68 21 85 20 79
0 1 0 1
16/16 parallel (16-bit bus, 16-bit instruction) 8/8 parallel (8-bit bus, 8-bit instruction) 8/16 parallel (8-bit bus, 16-bit instruction) serial
Bi-directional, tri-state
These signals transmit data between the host and the Motion Processor through the parallel port. Transmission is mediated by the control signals
~HostSlct, ~HostWrite, ~HostRead and HostCmd.
In 16 bit mode, all 16 bits are used (HostData0-15). In 8 bit mode, only the low-order 8 bits of data are used (HostData0-7). The HostMode0 and HostMode1 signals select the communication mode this port operates in.
Bi-directional
These signals transmit data between the I/O chip and pins Data0-15 of the CP chip, via the Motion Processor data bus.
Output
Direction1 Direction2 Direction3 Direction4
61 60 59 26
Output
These pins provide the Pulse signal to the motor. This signal is always a square wave, regardless of the pulse rate. A "step" occurs when the signal transitions from a high state to a low state. For the MC2540 all 4 pins are valid. For MC2520 only Pulse1 and Pulse2 are valid. For MC2510 only Pulse1 is valid. Invalid axis pins may be left unconnected. These pins indicate the direction of motion and work in conjunction with the pulse signal. A high level on this signal indicates a positive direction move and a low level indicates a negative direction move. For MC2540 all 4 pins are valid. For MC2520 only Direction1 and Direction2 are valid. For MC2510 only Direction1 is valid. Invalid axis pins may be left unconnected.
MC2500 Technical Specifications 31
I/O Chip
Pin Name and Number
AtRest1 AtRest2 AtRest3 AtRest4 23 86 63 80
Direction
Output
Description
The AtRest signal indicates the axis is at rest and the step motor can be switched to low power or standby. A high level on this signal indicates the axis is at rest. A low signal indicates the axis is in motion. For MC2540 all 4 pins are valid. For MC2520 only AtRest1 and AtRest2 are valid. For MC2510 only AtRest1 is valid. Invalid axis pins may be left unconnected. These pins provide the A and B quadrature signals for the incremental encoder for each axis. When the axis is moving in the positive (forward) direction, signal A leads signal B by 90. The theoretical maximum encoder pulse rate is 5.1 MHz. Actual maximum rate will vary, depending on signal noise. NOTE: Many encoders require a pull-up resistor on each signal to establish a proper high signal. Check your encoder's electrical specifications. For MC2540, all 8 pins are valid. For MC2520, only the first four pins (axes 1 and 2) are valid. For MC2510, only the first two pins (axis 1) are valid.
QuadA1 QuadB1 QuadA2 QuadB2 QuadA3 QuadB3 QuadA4 QuadB4
47 25 48 44 33 51 30 58
Input
WARNING! If a valid axis pin is not used, its signal should be tied high.
~Index1 ~Index2 ~Index3 ~Index4 49 93 83 28
Input
Invalid axis pins may be left unconnected. These pins provide the Index quadrature signals for the incremental encoders. A valid index pulse is recognized by the chipset when ~Index, A, and B are all low. For MC2540, all 4 pins are valid. For MC2520, only ~Index1 and ~Index2 are valid. For MC2510, only ~Index1 is valid.
WARNING! If a valid axis pin is not used, its signal should be tied high.
~Home1 ~Home2 ~Home3 ~Home4 82 29 88 45
Input
Invalid axis pins may be left unconnected. These pins provide the Home signals, general-purpose inputs to the position-capture mechanism. A valid Home signal is recognized by the chipset when ~Homen goes low. These signals are similar to ~Index, but are not gated by the A and B encoder channels. For MC2140, all 4 pins are valid. For MC2120, only ~Home1 and ~Home2 are valid. For MC2110, only ~Home1 is valid.
WARNING! If a valid axis pin is not used, its signal should be tied high.
Vcc GND unassigned
16, 17, 40, 65, 66, 67, 90 4, 9, 22, 34, 46, 57, 64, 72, 84, 96 19, 27, 55, 56, 62, 78, 87
Invalid axis pins may be left unconnected. All of these pins must be connected to the I/O chip's digital supply voltage, which should be in the range 4.75 to 5.25 V. I/O chip ground. All of these pins must be connected to the digital power supply return. These pins may be left unconnected (floating).
MC2500 Technical Specifications 32
5.4.2
CP chip CP chip
Pin Name and Number
~WriteEnbl R/~W ~Strobe ~PeriphSlct ~RAMSlct ~Reset W/~R SrlRcv 1 4 6 130 129 41 132 43
Direction
Output Output Output Output Output Input Output Input
Description
When low, this signal enables data to be written to the bus. This signal is high when the CP chip is performing a read, and low when it is performing a write. It should be connected to I/O chip pin 53, CPR/~W. This signal is low when the data and address are valid during CP communications. It should be connected to I/O chip pin 54, CPStrobe. This signal is low when peripheral devices on the data bus are being addressed. It should be connected to I/O chip pin 52, CPPeriphSlct. This signal is low indicates that external memory is being accessed. This is the master reset signal. When brought low, this pin resets the chipset to its initial conditions. This signal is the inverse of R/~W; it is high when R/~W is low, and vice versa. For some decode circuits, this is more convenient than R/~W. This pin receives serial data from the serial transceiver.
NOTE! If this signal is not used, it should be tied high.
SrlXmt SrlEnable ~HostIntrpt I/OIntrpt Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 Data11 Data12 Data13 Data14 Data15 44 99 98 53 9 10 11 12 15 16 17 18 19 22 23 24 25 26 27 28
Output Output Output Input Bidirectional
This pin transmits serial data to the asynchronous serial port. This pin sets the serial port enable line. SrlEnable is always high for the point-topoint protocol and is high during transmission for the multi-drop protocol. When low, this signal causes an interrupt to be sent to the host processor. This signal interrupts the CP chip when a host I/O transfer is complete. It should be connected to I/O chip pin 77, CPIntrpt. Multi-purpose data lines. These pins comprise the CP chip's external data bus, used for all communications with the I/O chip and peripheral devices such as external memory or DACs. They may also be used for parallel-word input and for user-defined I/O operations.
MC2500 Technical Specifications 33
CP chip
Pin Name and Number
Addr0 Addr1 Addr2 Addr3 Addr4 Addr5 Addr6 Addr7 Addr8 Addr9 Addr10 Addr11 Addr12 Addr13 Addr14 Addr15 I/OClk AnalogVcc 110 111 112 114 115 116 117 118 119 122 123 124 125 126 127 128 58 84
Direction
Output
Description
Multi-purpose Address lines. These pins comprise the CP chip's external address bus, used to select devices for communication over the data bus. Addr0, Addr1, and Addr15 are connected to the corresponding CPAddr pins on the I/O chip, and are used to communicate between the CP and I/O chips. Other address pins may be used for DAC output, parallel word input, or userdefined I/O operations. See the Navigator Motion Processor User's Guide for a complete memory map.
Input Input Input Input
AnalogRefHigh 85 AnalogRefLow AnalogGND Analog1 Analog2 Analog3 Analog4 Analog5 Analog6 Analog7 Analog8 PosLim1 PosLim2 PosLim3 PosLim4 86 87 74 89 75 88 76 83 77 82 63 65 54 49
Input
The CP chip clock signal. It should be connected to I/O chip pin 24, CPClk. CP chip analog power supply voltage. This pin must be connected to the analog input supply voltage, which must be in the range 4.5-5.5 V CP chip analog high voltage reference for A/D input. The allowed range is AnalogRefLow to AnalogVcc. CP chip analog low voltage reference for A/D input. The allowed range is AnalogGND to AnalogRefHigh. CP chip analog input ground. This pin must be connected to the analog input power supply return. These signals provide general-purpose analog voltage levels, which are sampled by an internal A/D converter. The A/D resolution is 10 bits. The allowed range is AnalogRefLow to AnalogRefHigh.
Input
These signals provide inputs from the positive-side (forward) travel limit switches. On power-up or Reset these signals default to active low interpretation, but the interpretation can be set explicitly using the SetSignalSense instruction. For MC2540, all 4 pins are valid. For MC2520, only PosLim1 and PosLim2 are valid. For MC2510, only PosLim1 is valid.
WARNING! If a valid axis pin is not used, its signal should be tied high. PosLim2 is an output during device reset and as such any connection to GND or Vcc must be via a series resistor.
NegLim1 NegLim2 NegLim3 NegLim4 64 66 55 51
Input
Invalid axis pins may also be left unconnected. These signals provide inputs from the negative-side (reverse) travel limit switches. On power-up or Reset these signals default to active low interpretation, but the interpretation can be set explicitly using the SetSignalSense instruction. For MC2540, all 4 pins are valid. For MC2520, only NegLim1 and NegLim2 are valid. For MC2510, only NegLim1 is valid.
WARNING! If a valid axis pin is not used, its signal should be tied high. NegLim1 is an output during device reset and as such any connection to GND or Vcc must be via a series resistor.
Invalid axis pins may also be left unconnected. MC2500 Technical Specifications 34
CP chip
Pin Name and Number
AxisOut1 AxisOut2 AxisOut3 AxisOut4 AxisIn1 AxisIn2 AxisIn3 AxisIn4 Vcc 94 95 96 97
Direction
Output
Description
Each of these pins can be conditioned to track the state of any bit in the Status registers associated with its axis. For MC2540, all 4 pins are valid. For MC2520, only AxisOut1 and AxisOut2 are valid. For MC2510, only AxisOut1 is valid. Invalid or unused pins may be left unconnected. 72 Input These are general-purpose programmable inputs. They may be used as a 100 breakpoint input, to stop a motion axis, or to cause an UPDATE to occur. 106 For MC2540, all 4 pins are valid. For MC2520, only AxisIn1 and AxisIn2 are valid. 67 For MC2510, only AxisIn1 is valid. Invalid or unused pins may be left unconnected. 2, 7, 13, 21, 35, 36, 40, CP digital supply voltage. All of these pins must be connected to the supply 47, 50, 52, 60, 62, 93, voltage. Vcc must be in the range 4.75 - 5.25 V 103, 121
WARNING! Pin 35 must be tied HIGH with a pull-up resistor. A nominal value of 22K Ohms is suggested.
GND
AGND unassigned unassigned (MC2540)
3, 8, 14, 20, 29, 37, 46, CP ground. All of these pins must be connected to the power supply return. 56, 59, 61, 71, 92, 104, 113, 120 78-81 These signals must be tied to AnalogGND. If the analog input circuitry is not used, these pins must be tied to GND. 45, 48, 73, 90, 91, 105, These signals may be connected to GND for better noise immunity and reduced 107-9 power consumption or they can be left unconnected (floating). 5, 30-34, 38, 39, 42, , These signals may be left unconnected (floating). 57, 68-70, 101, 102, 131
MC2500 Technical Specifications 35
6 Application Notes
6.1 Design Tips
The following are recommendations for the design of circuits that utilize a PMD Motion Processor. Serial Interface The serial interface is a convenient interface that can be used before host software has been written to communicate through the parallel interface. It is recommended that even if the serial interface is not utilized as a standard communication interface, that the serial receive and transmit signals are brought to test points so that they may be connected during initial board configuration/debugging. This is especially important during the prototype phase. The serial receive line should include a pullup resistor to avoid spurious interrupts when it is not connected to a transceiver. If the serial configuration decode logic is not implemented (see section 6.3) and the serial interface may be used for debugging as mentioned above, the CP data bus should be tied high. This places the serial interface in a default configuration of 9600,n,8,1 after power on or reset. Controlling pulse output during reset When the motion processor is in a reset state (when the reset line is held low) or immediately after a power on, the pulse outputs can be in an unknown state, causing undesirable motor movement. It is recommended that the enable line of any motor amplifier be held in a disabled state by the host processor or some logic circuitry until communication to the motion processor is established. This can be in the form of a delay circuit on the amplifier enable line after power up, or the enable line can be ANDed with the CP reset line. Reducing noise and power consumption To reduce the emission of electrical noise and reduce power consumption (caused by floating inputs), all unused input signals can be tied through a resistor to Vcc or directly to GND. The following CP pins can be tied if not used: 45, 48, 68-70, 73, 90, 91, 101, 102, 105, 107-109, 78-81. Parallel word encoder input When using parallel word input for motor position, it is useful to also decode this information into the User I/O space. This allows the current input value to be read using the chip instruction ReadIO for diagnostic purposes. Using a non standard system clock frequency It is often desirable to share a common clock among several components in a design. In the case of the PMD Motion Processors it is possible to use a clock below the standard value of 40MHz. In this case all system frequencies will be reduced as a fraction of the input clock verses the standard 40MHz clock. The list below shows the affected system parameters:-
MC2500 Technical Specifications 36
* * * *
Serial baud rate Maximum pulse rate Timing characteristics as shown in section 3.2 Cycle time
For example, if an input clock of 34MHz is used with a serial baud rate of 9600 and the step range (SetStepRange) set to 625KHz the following timing changes will result:* * * Serial baud rate decreases to 9600 bps *34/40 = 8160 bps Maximum step rate decreases to 625 KHz *34/40 = 531.25 KHz Cycle time per axis increases to 102.4 sec *40/34 = 120.48 sec
MC2500 Technical Specifications 37
6.2
ISA Bus Interface
A complete, ready-to-use ISA (PC/AT) bus interface circuit has been provided to illustrate Navigator host interfacing, as well as to make it easier for the customer to build a Navigator development system. The interface between the PMD Navigator chipset and the ISA (PC-AT) bus is shown on the following page. Comments on Schematic This interface uses a CPLD and two 74LS245s to buffer the data lines. This interface assumes a base address is assigned in the address space of A9-A0, 300-400 hex. These addresses are generally available for prototyping and other system-specific uses without interfering with system assignments. This interface occupies 16 addresses from XX0 to XXF hex though it does not use all the addresses. Four select lines are provided allowing the base address to be set from 300 to 3F0 hex for the select lines SW1-SW4 equal to 0- F respectively. The address assignments used are as follows, where BADR is the base address, 340 hex for example:
Address 340h 342h 344h 348h use read-write data write command -read status write command -read status write reset [Data = don't care]
The base address (BADR) is decoded in the 74LS688. It is combined with SA1, SA2, and SA3, (BADR+0,2,4) to form HSELN to select the I/O chip and the 245's. (BADR+2,4) asserts HCMD. Two addresses are used to be compatible with the first generation products, which used BADR+2 to write command and BADR+4 to read status. B+8 and IOW* generate a reset pulse, -RS, for the CP chip. The reset instruction is OR'd with RESET on the bus to initialize the PMD chipset when the PC is reset.
MC2500 Technical Specifications 38
MC2500 Technical Specifications 39
6.3
RS-232 Serial Interface
The interface between the Navigator chipset and an RS-232 serial port is shown in the following figure. Comments on Schematic S1 and S2 encode the characteristics of the serial port such as baud rate, number of stop bits, parity, etc. The CP will read these switches during initialization, but these parameters may also be set or changed using the SetSerialPort chipset command. The DB9 connector wired as shown can be connected directly to the serial port of a PC without requiring a null modem cable.
MC2500 Technical Specifications 40
MC2500 Technical Specifications 41
6.4
RS 422/485 Serial Interface
The interface between the Navigator chipset and an RS-422/485 serial port is shown in the following figure. Comments on Schematic Use the included table to determine the jumper setup that matches the chosen configuration. If using RS485, the last CP must have its jumpers set to RS485 LAST. The DB9 connector wiring is for example only. The DB9 should be wired according to the specification that accompanies the connector to which it is attached. For correct operation, logic should be provided that contains the start up serial configuration for the chipset. Refer to the RS232 Serial Interface schematic for an example of the required logic. Note that the RS485 interface cannot be used in point to point mode. It can only be used in a multidrop configuration where the chip SrlEnable line is used to control transmit/receive operation of the serial transceiver. Chips in a multi-drop environment should not be operated at different baud rates. This will result in communication problems.
MC2500 Technical Specifications 42
MC2500 Technical Specifications 43
6.5
12-bit A/D Interface
The following schematic shows a typical interface circuit between the Navigator chipset and a quad 12 bit 2's complement A/D converter used as a position input device. Comments on Schematic The A/D converter samples all 4 axes and sequentially converts and stores the 2's complement digital words. The data is read out sequentially, axis 1 to 4. DACRD- is used to perform the read and is also used to load the counter to FFh. The counter will be reloaded for each read and will not count significantly between reads. The counter will therefore start counting down after the last read and will generate the cvt- pulse after 12.75 sec. The conversions will take approximately 35 sec, and the data will be available for the next set of reads after 50 sec. The 12 bit words from the A/D are extended to 16 bits with the 74LS244.
MC2500 Technical Specifications 44
MC2500 Technical Specifications 45
6.6
16-bit A/D Input
The interface between the Navigator chipset and 16 bit A/D converters as parallel input position devices is shown in the following figure. Comments on Schematic The schematic shows a 16 bit A/D used to provide parallel position input to axis 1 and axis 2. The expansion to the remaining two axes is easily implemented. The 374 registers are required on the output of the A/D converters to make the 68-nanosecond access time of the CP. The worst-case timing of the A/D's specify 83 nanoseconds for data on the bus and 83 nanoseconds from data to tri-state on the bus. Each time the data is read the 169 counter is set to 703 decimal. This provides a 35.2-microsecond delay before the next conversion. With a 10-microsecond conversion time the data will be available for the next set of reads after 50 microseconds. The delay is used to provide a position sample close to the actual position.
MC2500 Technical Specifications 46
MC2500 Technical Specifications 47
6.7
RAM Interface
The following schematic shows an interface circuit between the Navigator chipset and external ram. Comments on Schematic The CP is capable of directly addressing 32K words of 16-bit memory. It will also use a 16 bit paging register to address up to 32K word pages. The schematic shows the paging and addressing for 128KB RAM chips, i.e. 4 pages per RAM chip. The page address decoding is shown for only 6 of the 16 possible paging bits. The decoding time from W/R and DS- to the memory output must not exceed 18 ns. for a read with no wait states. The writes provide 25 extra ns access time for W/R and DS- to reverse the CP data bus.
MC2500 Technical Specifications 48
MC2500 Technical Specifications 49
6.8
User-defined I/O
The interface between the Navigator chipset and 16 bits of user output and 16 bits of user input is shown in the following figure. Comments on Schematic The schematic implements 1 word of user output registered in the 74LS377's and 1 word of user inputs read via the 244's. The schematic decodes the low 3 bits of the address to 8 possible UIO addresses UIO0 through UIO7. Registers and buffers are shown for only UIO0, but the implementation shown may be easily extended. The lower 8 address bits may be decoded to provide up to 256 user output words and 256 user input words of 16 bits.
MC2500 Technical Specifications 50
MC2500 Technical Specifications 51
For additional information, or for technical assistance, please contact PMD at (781) 674-9860. You can also e-mail your request to `support@pmdcorp.com'. Visit our website at http://www.pmdcorp.com/.
MC2500 Technical Specifications 52

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